manual pd4-c/-cb€¦ · manual pd4-c (usb) 3 about this manual version 1.2.0 / 11.03.2015 /...

Manual PD4-C/-CBFieldbus: USB

For use with the following devices:

· PD4-C5918M4204-E-01· PD4-C5918L4204-E-01· PD4-C6018L4204-E-01· PD4-CB59M024035-E-01

Valid with firmware version FIR-v1504 Manual Version 1.2.0and since hardware version W005 NANOTEC ELECTRONIC GmbH & Co. KG Tel. +49 (0)89-900 686-0Kapellenstraße 6 Fax +49 (0)89 900 686-5085622 Feldkirchen/Munich, Germany [email protected]

Manual PD4-C (USB)Contents

Contents

1 Editorial....................................................................................................... 6

2 Safety instructions and warnings.............................................................72.1 Important information.............................................................................................................................72.2 Personnel qualifications.........................................................................................................................72.3 Danger and warning signs.................................................................................................................... 72.4 Other information...................................................................................................................................8

3 About this manual......................................................................................93.1 Introduction............................................................................................................................................ 93.2 Numerical values................................................................................................................................... 93.3 Bits......................................................................................................................................................... 93.4 Counting direction (arrows)................................................................................................................... 93.5 Release notes......................................................................................................................................10

4 Technical data and pin configuration.................................................... 114.1 Dimensioned drawings........................................................................................................................ 114.2 Electrical properties............................................................................................................................. 114.3 LED signaling...................................................................................................................................... 124.4 Pin configuration..................................................................................................................................13

5 Configuration............................................................................................ 165.1 General information............................................................................................................................. 165.2 DIP switches........................................................................................................................................165.3 USB port.............................................................................................................................................. 175.4 Configuration file..................................................................................................................................185.5 NanoJ program....................................................................................................................................20

6 Setup and commissioning.......................................................................226.1 Safety instructions............................................................................................................................... 226.2 Preparation.......................................................................................................................................... 22

7 General concepts..................................................................................... 247.1 DS402 Power State machine..............................................................................................................247.2 User-defined units............................................................................................................................... 28

8 Operating modes...................................................................................... 318.1 Profile Position.....................................................................................................................................318.2 Velocity................................................................................................................................................ 388.3 Profile Velocity.....................................................................................................................................398.4 Profile Torque...................................................................................................................................... 428.5 Homing.................................................................................................................................................448.6 Cyclic Synchronous Position............................................................................................................... 518.7 Cyclic Synchronous Velocity............................................................................................................... 538.8 Cyclic Synchronous Torque................................................................................................................ 54


8.9 Clock/direction mode........................................................................................................................ 558.10 Analogue Mode................................................................................................................................. 56

9 Special functions......................................................................................589.1 Digital inputs and outputs....................................................................................................................589.2 I2t motor overload protection...............................................................................................................609.3 Save Objects....................................................................................................................................... 62

10 Programming with NanoJ......................................................................6310.1 Introduction........................................................................................................................................ 6310.2 Available computing time.................................................................................................................. 6310.3 Interaction of the user program with the motor controller................................................................. 6310.4 OD entries for controlling and configuring the VMM.........................................................................6410.5 NanoJ Easy V2................................................................................................................................. 6510.6 System calls...................................................................................................................................... 67

11 Object directory description..................................................................6911.1 Overview............................................................................................................................................ 6911.2 Structure of the object description.................................................................................................... 6911.3 Object description..............................................................................................................................6911.4 Value description............................................................................................................................... 7011.5 Description......................................................................................................................................... 711000h Device Type....................................................................................................................................721001h Error Register................................................................................................................................. 731003h Pre-defined Error Field................................................................................................................... 731008h Manufacturer Device Name............................................................................................................771009h Manufacturer Hardware Version.....................................................................................................77100Ah Manufacturer Software Version......................................................................................................781010h Store Parameters........................................................................................................................... 781011h Restore Default Parameters...........................................................................................................791018h Identity Object.................................................................................................................................802030h Pole Pair Count.............................................................................................................................. 812031h Peak Current.................................................................................................................................. 822032h Maximum Speed.............................................................................................................................822033h Plunger Block................................................................................................................................. 832034h Upper Voltage Warning Level........................................................................................................ 832035h Lower Voltage Warning Level........................................................................................................ 842036h Open Loop Current Reduction Idle Time....................................................................................... 842037h Open Loop Current Reduction Value/factor................................................................................... 852039h Motor Currents................................................................................................................................85203Ah Homing On Block Configuration.................................................................................................... 86203Bh I2t Parameters................................................................................................................................882050h Encoder Alignment......................................................................................................................... 902051h Encoder Optimization..................................................................................................................... 902052h Encoder Resolution........................................................................................................................ 912053h Index Polarity..................................................................................................................................922054h Index Width.....................................................................................................................................922056h Limit Switch Tolerance Band..........................................................................................................932057h Clock Direction Multiplier................................................................................................................932058h Clock Direction Divider................................................................................................................... 932059h Encoder Configuration....................................................................................................................94205Ah Encoder Boot Value.......................................................................................................................95205Bh Clock Direction Or Clockwise/Counter Clockwise Mode................................................................952060h Compensate Polepair Count.......................................................................................................... 952061h Velocity Numerator......................................................................................................................... 962062h Velocity Denominator......................................................................................................................96


2063h Acceleration Numerator.................................................................................................................. 972064h Acceleration Denominator.............................................................................................................. 982065h Jerk Numerator...............................................................................................................................982066h Jerk Denominator........................................................................................................................... 992067h Jerk Limit (internal).........................................................................................................................992084h Bootup Delay................................................................................................................................ 1002101h Fieldbus Module........................................................................................................................... 1002200h Sampler Control............................................................................................................................1012201h Sampler Status............................................................................................................................. 1022202h Sample Data Selection.................................................................................................................1022203h Sampler Buffer Information.......................................................................................................... 1052204h Sample Time In Ms...................................................................................................................... 1062300h NanoJ Control...............................................................................................................................1062301h NanoJ Status................................................................................................................................ 1072302h NanoJ Error Code........................................................................................................................ 1082303h Number Of Active User Program................................................................................................. 1092304h Table Of Available User Programs.............................................................................................. 109230Fh Uptime Seconds........................................................................................................................... 1112310h NanoJ Input Data Selection......................................................................................................... 1122320h NanoJ Output Data Selection.......................................................................................................1152330h NanoJ In/output Data Selection................................................................................................... 1192400h NanoJ Inputs................................................................................................................................ 1222410h NanoJ Init Parameters..................................................................................................................1282500h NanoJ Outputs..............................................................................................................................1342600h NanoJ Debug Output....................................................................................................................1402700h User Storage Area........................................................................................................................1513202h Motor Drive Submode Select....................................................................................................... 153320Ah Motor Drive Sensor Display Open Loop......................................................................................154320Bh Motor Drive Sensor Display Closed Loop....................................................................................1563210h Motor Drive Parameter Set.......................................................................................................... 1573212h Motor Drive Flags.........................................................................................................................1603220h Analog Inputs................................................................................................................................1613221h Analogue Inputs Control...............................................................................................................1623225h Analogue Inputs Switches............................................................................................................ 1623240h Digital Inputs Control.................................................................................................................... 1633250h Digital Outputs Control................................................................................................................. 1653320h Read Analogue Input....................................................................................................................1673321h Analogue Input Offset...................................................................................................................1683322h Analogue Input Pre-scaling.......................................................................................................... 1693700h Following Error Option Code........................................................................................................1704040h Drive Serial Number..................................................................................................................... 170603Fh Error Code....................................................................................................................................1716040h Controlword...................................................................................................................................1716041h Statusword.................................................................................................................................... 1726042h Vl Target Velocity......................................................................................................................... 1736043h Vl Velocity Demand...................................................................................................................... 1746044h Vl Velocity Actual Value............................................................................................................... 1746046h Vl Velocity Min Max Amount........................................................................................................ 1756048h Vl Velocity Acceleration................................................................................................................1766049h Vl Velocity Deceleration............................................................................................................... 177604Ah Vl Velocity Quick Stop................................................................................................................. 177604Ch Vl Dimension Factor.................................................................................................................... 178605Ah Quick Stop Option Code..............................................................................................................179605Bh Shutdown Option Code................................................................................................................180605Ch Disable Option Code....................................................................................................................181605Dh Halt Option Code......................................................................................................................... 181605Eh Fault Option Code........................................................................................................................1826060h Modes Of Operation..................................................................................................................... 1826061h Modes Of Operation Display........................................................................................................ 183


6062h Position Demand Value................................................................................................................1836063h Position Actual Internal Value...................................................................................................... 1846064h Position Actual Value................................................................................................................... 1846065h Following Error Window............................................................................................................... 1856066h Following Error Time Out............................................................................................................. 1856067h Position Window........................................................................................................................... 1866068h Position Window Time..................................................................................................................186606Bh Velocity Demand Value................................................................................................................187606Ch Velocity Actual Value................................................................................................................... 187606Dh Velocity Window...........................................................................................................................188606Eh Velocity Window Time..................................................................................................................1886071h Target Torque...............................................................................................................................1896072h Max Torque.................................................................................................................................. 1896074h Torque Demand............................................................................................................................189607Ah Target Position............................................................................................................................. 190607Bh Position Range Limit.................................................................................................................... 190607Ch Home Offset.................................................................................................................................191607Dh Software Position Limit................................................................................................................ 192607Eh Polarity..........................................................................................................................................1936081h Profile Velocity..............................................................................................................................1936082h End Velocity..................................................................................................................................1946083h Profile Acceleration.......................................................................................................................1946084h Profile Deceleration...................................................................................................................... 1956085h Quick Stop Deceleration...............................................................................................................1956086h Motion Profile Type...................................................................................................................... 1956087h Torque Slope................................................................................................................................ 196608Fh Position Encoder Resolution........................................................................................................ 1966091h Gear Ratio.................................................................................................................................... 1976092h Feed Constant.............................................................................................................................. 1986098h Homing Method............................................................................................................................ 1996099h Homing Speed..............................................................................................................................199609Ah Homing Acceleration.................................................................................................................... 20060A4h Profile Jerk................................................................................................................................... 20160C2h Interpolation Time Period.............................................................................................................20260C5h Max Acceleration..........................................................................................................................20360C6h Max Deceleration......................................................................................................................... 20460F2h Positioning Option Code.............................................................................................................. 20460F4h Following Error Actual Value........................................................................................................20560FDh Digital Inputs................................................................................................................................ 20660FEh Digital Outputs............................................................................................................................. 20660FFh Target Velocity............................................................................................................................. 2076502h Supported Drive Modes................................................................................................................2086505h Http Drive Catalogue Address......................................................................................................209

12 Copyright notice................................................................................... 21012.1 Introduction...................................................................................................................................... 21012.2 AES..................................................................................................................................................21012.3 Arcfour (RC4).................................................................................................................................. 21012.4 MD5................................................................................................................................................. 21112.5 uIP....................................................................................................................................................21112.6 DHCP...............................................................................................................................................21112.7 CMSIS DSP Software Library......................................................................................................... 21212.8 FatFs................................................................................................................................................21212.9 Protothreads.................................................................................................................................... 21212.10 Lightwight IP.................................................................................................................................. 213

Manual PD4-C (USB)1 Editorial

Version 1.2.0 / 11.03.2015 / FIR-v1504 6

1 EditorialCopyright © 2014 Nanotec Electronic GmbH & Co. KG. All rights reserved.

The firmware in our motor controllers may contain software components produced by third parties. Thelicensing conditions and copyrights of these code components can be found in the "Copyright notice"section.

Nanotec ®Electronic GmbH & Co. KG

Kapellenstraße 6

85622 Feldkirchen/Munich, Germany

Tel.: +49 (0)89-900 686-0

Fax: +49 (0)89-900 686-50

Internet: www.nanotec.com

All rights reserved!

MS Windows 98/NT/ME/2000/XP/7 are registered trademarks of the Microsoft Corporation.

Translation of original manual

Manual PD4-C (USB)2 Safety instructions and warnings

Version 1.2.0 / 11.03.2015 / FIR-v1504 7

2 Safety instructions and warnings

2.1 Important information

This technical manual must be carefully read before installation and commissioning of the motorcontroller.

Nanotec ®reserves the right to make technical alterations and further develop hardware and software in

the interests of its customers to improve the function of this product without prior notice.

This manual was created with due care. It is exclusively intended as a technical description of theproduct and as commissioning instructions. The warranty is exclusively for repair or replacement ofdefective equipment, according to our general terms and conditions; liability for subsequent damage orerrors is excluded. Applicable standards and regulations must be complied with during installation ofthe device.

To submit criticism, proposals and suggestions for improvement, please contact the above address orsend an email to: [email protected]

2.2 Personnel qualifications

Work on and with this product may only be carried out by skilled workers

• who are familiar with and have understood the contents of this manual• who have completed a training course or have the corresponding experience to be able to estimate,

predict, or identify any dangers that may arise from using the motor controller• who are familiar with all applicable standards, legal provisions, and accident-prevention regulations

that have to be complied with when working on and with the product• who are able to ensure personal safety when using the motor controller in an overall system

Operation may only be carried out when the specified cables and corresponding accessories are used.Use only original accessories and original spare parts.

2.3 Danger and warning signs

All signs listed in this documentation are printed in a standardized form. A hazardous situation iscategorized according to the classes below depending on the level of hazard to the user or motorcontroller.

! DANGERThe DANGER sign indicates an immediately hazardous situation that, when the instruction isneglected, will unavoidablycause a serious or fatal accident.

! WARNINGThe WARNING sign indicates a potentially hazardous situation that, when the instruction isneglected, may possiblycause a serious or fatal accident or damage to this device or other devices.

! CAUTIONThe CAUTION sign indicates a potentially hazardous situation that, when the instruction is neglected,may possiblycause an accident or damage to this device or other devices.

mailto:[email protected]

Manual PD4-C (USB)2 Safety instructions and warnings

Version 1.2.0 / 11.03.2015 / FIR-v1504 8

CAUTIONThe CAUTION sign without the warning symbol indicates a possibly hazardous situation that, whenthe instruction is neglected, may possiblycause an accident or damage to this device or otherdevices.

2.4 Other information

The following additional information panels are used in this documentation:

TipThis panel indicates a possibility for simplifying work.

Note

This panel indicates possible error sources or risks of confusion.

Example

This panel contains an example.

Manual PD4-C (USB)3 About this manual

Version 1.2.0 / 11.03.2015 / FIR-v1504 9

3 About this manual

3.1 Introduction

This manual is directed toward programmers intending to program a motor controller using the motorcontroller from Nanotec

®.

3.2 Numerical values

Numerical values are always presented in decimal notation. If hexadecimal notation must be used, thisis indicated by a subscript "h" at the end of the number.

The objects in the object directory are noted as follows with an index and subindex:<Index>:<Subindex>

Both the index and subindex are in hexadecimal notation. Subindex 0 is in force when no subindex isnoted.

Example: Subindex 5 of object 1003h is addressed with "1003h:05h", subindex 0 of object 6040h with"6040h".

In the last section of the manual, all objects are listed in full, and the references in the running text andtables are set in bold, e.g. 6040h.

3.3 Bits

The individual bits of an object are always numbered beginning with 0 at the LSB. See the followingfigure, which uses the "UNSIGNED8" data type as an example.

3.4 Counting direction (arrows)

In drawings, the counting direction is always in the direction of the arrow. The objects 60C5h and 60C6hshown in the following figure are both positive.

Max. acceleration (60C5h)

Max. deceleration (60C6h)

Acc

eler

atio

n

t

Manual PD4-C (USB)3 About this manual

Version 1.2.0 / 11.03.2015 / FIR-v1504 10

3.5 Release notes

VersionManual

VersionFrimware

Datum Änderungen

1.0.0 FIR-v1403 03.03.2014 First release

1.0.3 FIR-v1419 12.05.2014 Minor corrections, field "Specified Value" in object dictionarydescription now used

1.1.0 FIR-v1426 23.07.2014 • Added chapter "Save Objects", added "Persistent" to theobject description

• The following objects has been moved

• "Read Analog Input": from 6402h to 3320h

• "Analogue Input Offset": from 6431h to 3321h

• "Analogue Input Pre-scaling": from 6432h to 3322h

1.1.7 FIR-v1436 10.09.2014 Corrections

1.1.15 FIR-v1446 18.11.2014 • Corrections• The object "Mode of modulo operation" at 2070h has been

replaced with object "Positioning option code" at 60F2h

1.2.0 FIR-v1504 11.03.2015 New chapter:

• Clock/direction mode• Analogue Mode

Manual PD4-C (USB)4 Technical data and pin configuration

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4 Technical data and pin configuration

4.1 Dimensioned drawings

4.1.1 PD4-C5918M4204-E-01

Front view and mounting Side view Rear view Y

4.1.2 PD4-C6018L4204-E-01


4.1.3 PD4-CB59M024035-E-01


4.2 Electrical properties

4.2.1 Technical data of motor

PD4-C PD4-CB

Type High-pole DC servo (steppermotor)

Low-pole DC servo (BLDC)

Operating voltage 12 V to 48 V 12 V to 24 V

Phase current eff. 4.2 A 8 A


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PD4-C PD4-CB

RMS for 1s Max. 6.3 A Max. 20 A

4.2.2 Technical data of I/O

Version USB

Operating modes Torque, speed, position, homing

Setpoint setting/programming Clock-direction, analog input, NanoJ V2, USB

Inputs Single/differential clock/direction/enable (+5 V/+24 V)

3 digital inputs (+24 V)

1 analog input (0 V to 10 V)

Outputs 1 output, max. 0.5 A, open drain

Integrated encoder Single turn, magnetic absolute encoder, 1024 pulses/rev.

4.2.3 Ratings

Type Holding torque

Ncm

Nom./

Peak Torque

Ncm

Nominal Speed

(rpm)

Length

mm

Weight

kg

PD4-C5918M4204-E-01/-08

110 37 / 110 3500 81 0.8

PD4-C6018L4204-E-01/-08

350 37 / 110 3500 111 1.5

PD4-CB59M024035-E-01/-08

370 37 / 110 3500 89 0.9

4.3 LED signaling

4.3.1 Normal operation

In normal operation the greenoperating LED flashes very briefly once per second.

LED off

LED on

t1s 2s0s

4.3.2 Error

Should there be an error, an error number is indicated by the LED within one second. In the followingillustration, the error is signaled with the number 3.

t1s 2s

3x

LED off

LED on

0s


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The meaning of the error number is printed in the following table.

Amount

Flash

Error

1 General information

2 Voltage

3 Temperature

4 Overcurrent

5 Control

Note

A considerably more exact error code is stored in object 1003h for every error that has occurred.

4.4 Pin configuration

4.4.1 Overview

The following illustration shows the motor controller with a view of the shaft.

4.4.2 Analog input (connector X1)

Connections for analog mode

X1 X2 X31 1 1

Pin Function Remark

1 GND


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Pin Function Remark

2 Analog input 10 Bit , 0 - 10 V

3 Output Open-Drain, max. 24 V/100 mA

4 Voltage output +12 V, max. 100 mA

4.4.3 Clock-direction inputs (connector X2)

Connections for the analog inputs as well as inputs for the clock-direction motor controller.

Note

The inputs for "clock/direction" can get switched between 5 V or 24 V alltogether.

X1 X2 X31 1 1

Pin Function Remark

1 Digital Input1 0/+24 V

2 Digital Input2 (+24 V) 0/+24 V)

3 Digital Input3 0/+24 V

4 -Enable 5 V / 24 V signal, all pins together switchablevia software with object 3240h, max. 1 MHz

5 Enable 5 V / 24 V signal, all pins together switchablevia software with object 3240h, max. 1 MHz

6 -Direction 5 V / 24 V signal, all pins together switchablevia software with object 3240h, max. 1 MHz

7 Direction 5 V / 24 V signal, all pins together switchablevia software with object 3240h, max. 1 MHz

8 -Clock 5 V / 24 V signal, all pins together switchablevia software with object 3240h, max. 1 MHz

9 Clock

10 GND

4.4.4 Voltage supply (connector X3)

Safety instruction

! CAUTION

Danger of electrical overvoltage!

• Connect a charging capacitor with at least 4700 µF!• An operating voltage higher than the admissible operating voltage (see the "Technical data of

motor" section) destroys the output stage!• Mixing up the connections can destroy the output stage!• Never connect or disconnect lines when live!


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! CAUTION• The supply voltage must be selected so that it neverexceeds the admissible operating voltage of

the motor. In particular, interferences by other consumers or by voltages induced by the motormust be considered, and if necessary a voltage must be selected that offers an adequately highsafety reserve.

Voltage source

The operating or supply voltage is delivered by a battery, a transformer with rectification and filtering, orbetter a switch-mode power supply.

Interference suppression and protection measures are required when a DC power supply line witha length of >30 m is used or the motor is used on a DC bus. An EMI filter is to be installed in the DCsupply cable with a small as possible distance to the motor controller/motor.

Long data or supply lines are to be routed through ferrites.

Connections

X1 X2 X31 1 1

Pin Function Remark

1 +Vcc • PD4-C: 12-48 V• PD4-CB: 12-24 V

2 GND

Permissible operating voltage

The maximum operating voltage for each motor type is:

• 12 V to 24 V for BLDC motors• 12 V to 48 V for stepper motors

A charging capacitor of at least 4700 µF/ 50 V must be connected to the supply voltage to ensure thatthe permissible operating voltage is not exceeded (e.g. during braking).

Manual PD4-C (USB)5 Configuration

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5 Configuration

5.1 General information

The following options exist for configuring the motor controller:

DIP switchesFour DIP switches are fitted on the rear. More information can be found in the section "DIPswitches".

Configuration fileThis file can be stored on the motor controller by using the USB port. Read the sections "USBport" and "Configuration file".

NanoJ programThis program can be programmed, compiled, and then transferred over USB to the motorcontroller with NanoJ Easy. Read the sections "USB port" and "Programming with NanoJ".

After it has been connected to a voltage supply, the motor controller reads out the configuration in thefollowing sequence:

1. Configuration file is read out and processed.2. The DIP switches are read out and applied as configuration.3. The NanoJ program is launched

5.2 DIP switches

The motor controller can be configured with DIP switches on the rear. The base setting when deliveredis shown in the following illustration.

1 2 3 4

ON

Note

A change of one or more DIP switches will only take effeckt after a restart of the controller.

A switch pushed up is in the "On" position. A switch pushed down is in the "Off" position.

Switch configurations:

1 2 3 Modus

Off Off Off Clock/Directionmode

Off Off On Clock/Directionmode

Off On Off clock/direction Automatic engine run with 30rpm

Direction of rotation is right

Off On On clock/direction Automatic engine run with 30rpm

Direction of rotation is left

On Off Off analog speed Direction set by "direction" input Maximum revolution speed is1000 rpm

On Off On analog speed Direction set by "direction" input Maximum revolution speed is100 rpm


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1 2 3 Modus

On On Off analog speed Offset 5 V (joystick mode) Maximum revolution speed is1000 rpm

On On On analog speed Offset 5 V (joystick mode) Maximum revolution speed is100 rpm

Switch 4 alternates between Open-Loop (On) and Closed-Loop (Off).

The notation is:clock/direction

Activates the clock/direction mode, therefore the pins "enable", "clock" and "direction" need tobe connected (see chapter " Analog input (connector X1)").

Analog speedActivates the analog mode, therefore the "enable" input (see chapter " Clock-direction inputs(connector X2)") and the analog input (see chapter " Analog input (connector X1)") needs tobe connected.

Automatic engine run with 30 rpmThe motor turns with 30 rpm if the "enable" input is set (see chapter " Clock-direction inputs(connector X2)").

Direction set by "direction" inputIn this mode the "direction" input determines the direction of rotation left/right, the analogevoltage determines the revolution speed.

Offset 5 V (joystick mode)If the switch is set in analoge mode, the analoge input is split into two locial halfs: from 0 V to5 V the direction of rotation is left and at 5 V to 10 V the direction of rotation is right. At 5 V themotor is stopped, the more away the voltage from 5 V, the higher the revolution speed is. Themaximum revolution speed at 0 V and 10 V is determined by switch 3.

Maximum revolution speed is NNN rpmIn analog speed mode this switch determines the maximum revolution speed which is attainedat maximum or minum analoge input voltage.

5.3 USB port

! CAUTION

• Use only a standardized micro-USB cable. Never use a USB cable that manufacturers of cellphones enclose with their products. These USB cable may have a different connector form or pinassignment.

• Do not save files on the motor controller other than those listed below:

1. pd4cfg.txt2. vmmcode.usr3. info.bin4. reset.txt5. firmware.bin

All other files are deleted when the voltage supply for the motor controller is switched on!


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Note

• The controller behaves like a mass storage device ("USB flash drive"), no further drivers arenecessary.

• The motor is brought to idling when the USB cable is connected. The "Switched On" mode is set (see the "DS402 Power State machine" section).

• The voltage supply for the motor controller must also be switched on for USB operation.

If a USB cable is used for connecting the motor controller to a PC, the motor controller behaves likea removable storage medium. You can therefore store the configuration file or NanoJ program on themotor controller. All changes to files are only applied after the motor controller has been restarted (forexample by short disconnection from the voltage supply).

TipA frequent occurrence during set up and installation is that a file is updated and then copiedback to the motor controller, it is therefore advisable to use a script file that does this work

• In Windows you can create a text file with file extension bat and the following content :

copy <SOURCE> <TARGET>

• For Linux you can create a script with file extension sh and the following content:

#!/bin/bash cp <SOURCE> <TARGET>

5.4 Configuration file

5.4.1 General information

Read the USB port section first if you have not already done so.

The configuration file pd4cfg.txt has the purpose of preassigning values for the object directory toa specific value at startup. This file is kept in a special syntax to keep access to objects in the objectdirectory as simple as possible. The motor controller evaluates all assignments in the file from the topdownwards.

Note

Should you delete the configuration file, the file is recreated (without content) at the next motorcontroller restart.

5.4.2 Reading and writing the file

To access to the file:

1. Connect the voltage supply to connector X3 (see the "Voltage supply (connector X3)" section)and switch on the voltage supply.

2. Connect the motor controller to your PC by using the USB cable.3. After the PC has recognized the device as a removable storage medium, navigate with the Explorer

to the directory for the motor controller. The file " pd4cfg.txt" is stored there.4. Open this file with a simple text editor, such as Notepad or Vi. Do not use any programs that use

text styles (LibreOffice or suchlike).

After you have made changes to the file, take the following action to apply the changes:

1. Save the file if you have not already done this.2. Disconnect the USB cable from the motor controller.3. Disconnect the voltage supply from the motor controller for approx. 1 second.4. Reconnect the voltage supply. At the next motor controller startup, the new values in the

configuration file are read out and applied.


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TipYou can also copy an empty file reset.txt to the motor controller in order to restart themotor controller.

This restarts the motor controller. The file reset.txt is deleted at the restart.

5.4.3 Structure of configuration file

Comments

Lines that start with a semicolon are ignored by the motor controller.

Example

; This is a comment line

Assignments

CAUTIONBefore you set a value, find out about its data type (see the Object directory descriptionsection).The motor controller does not validate any entries for logic errors!

Values in the object directory can be set with the following syntax:

<Index>:<SubIndex>=<Value>

<Index>This value corresponds to the index of the object and is interpreted as a hexadecimal number.The value must always have four digits.

<SubIndex>This value corresponds to the subindex of the object and is interpreted as a hexadecimalnumber. The value must always have two digits.

<Value>The value that is to be written into the object is interpreted as a decimal number. A " 0x" is to beadded to the front for hexadecimal numbers.

Note

• There are not to be any empty spaces to the left and right of the equals sign. The followingassignments are incorrect:

• 6040:00 = 5• 6040:00= 5• 6040:00 = 5

• The number of digits may not be changed. The index must have four digits, the subindex two. Thefollowing assignments are incorrect:

• 6040:0=6• 6040=6

• Empty spaces at the beginning of the line are not admissible.

Example


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Setting object 6040h:00 to the value "6":

6040:00=0006

5.4.4 Short-circuit evaluation

DIP switches can only be used for executing certain assignments. The following syntax is used forshort-circuit execution:

#<No>:<Assignment>

<No>The number of the DIP switch printed on the switch is given here. Permissible values are 1 to 4

<Assignment>The assignment specified here is described in the "Assignments" section.

Example

The following code is set by the object 2057 h:00h "Clock Direction Multiplier"):

• to 1 if DIP switch 1 is switched to "Off".• to 2, if the DIP switch is switched to "On" (the previous value is overwritten).

2057:00=00000001 #1:2057:00=00000002

5.5 NanoJ program

A NanoJ program may be executed on the motor controller. Carry out the following steps to load andlaunch a program on the motor controller:

1. Write and compile your program as described in the "Programming with NanoJ" section.2. Connect the voltage supply to connector X3 (see the "Voltage supply (connector X3)" section)

and switch on the voltage supply.3. Connect the motor controller to your PC by using the USB cable.4. After the PC has recognized the device as a removable storage medium, open a file explorer and

delete file "vmmcode.usr" on the motor controller5. Use the explorer to navigate to the directory with your program. The compiled file has the same

name as the source code file, only with the file name extension ".usr". Rename this file to"vmmcode.usr".

6. Now copy file "vmmcode.usr" to the motor controller.7. Disconnect the voltage supply from the motor controller for approx. 1 second.8. Reconnect the voltage supply. At the next start of the motor controller, the new NanoJ program is

read-in and launched.

TipYou can also copy an empty file reset.txt to the motor controller in order to restart themotor controller.

This restarts the motor controller. The file reset.txt is deleted at the restart.

Note

• The NanoJ program on the motor controller must have the file name "vmmcode.usr".• If the NanoJ program was deleted, an empty file with name "vmmcode.usr" is created at the next

startup.


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TipDeletion of the old NanoJ program and copying of the new one can be automated with ascript file.

• In Windows you can create a file with file extension bat and the following content:

Copy <SOURCE PATH>\<OUTPUT>.usr <TARGET>:\vmmcode.usr

For example:

copy c:\test\main.usr n:\vmmcode.usr

• For Linux you can create a script with file extension sh and the following content:

output#!/bin/bashcp <SOURCE PATH> <TARGET>

Manual PD4-C (USB)6 Setup and commissioning

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6 Setup and commissioning

6.1 Safety instructions

! WARNINGThis product is causing high frequenty disturbances, arrangements for disturbance suppression maybe necessary in a living environment .

! CAUTION

Alternating electromagnetic fields!

Alternating electromagnetic fields around current-carrying cables, especially around the supply andmotor cables, can cause interference in the motor and other devices.

• Shield the cables. Run the shield connection on one side or both sides to a short earth.• Use twisted pair cables.• Keep power supply and motor cables as short as possible.• Ground the motor housing large-area to a short earth.• Run supply, motor and control cables separately.

6.2 Preparation

The following components are required for set up and installation:

• Motor controller PD4-C• Voltage supply in accordance with the data sheet• Additional voltage source unit for "enable" input

Corresponding to the mode to be used:

• For analog mode: An additional voltage source 0 V to 10 V• For clock-direction mode: Clock generator

6.2.1 Clock Direction mode

Read the "Configuration" section for the motor controller if you have not yet done so

1. Switch off any connected voltage supply.2. Set all DIP switches to the "Off" state (corresponds the base setting when delivered):

1 2 3 4

ON

3. Connect the voltage supply to connector X3 of the motor controller (see "Voltage supply(connector X3)").

4. Connect the clock generator to connector X2 (see "Clock-direction inputs (connector X2)")

The motor must change the speed of rotation when the clock generator frequency changes.

6.2.2 Analog mode

CAUTIONMake sure that the voltage at the analog input does not exceed the value of 10 V.

Manual PD4-C (USB)6 Setup and commissioning

Version 1.2.0 / 11.03.2015 / FIR-v1504 23

Read the "Configuration" section on the motor controller if you have not already done so.

1. Switch off any connected voltage supply.2. All DIP switches must - except for switch 1 - be at the "Off" state:

1 2 3 4

ON

3. Connect the voltage supply to connector X3 of the motor controller (see "Voltage supply(connector X3)").

4. Connect the adjustable voltage source supply to connector X1 pin 2 (see "Analog input(connector X1)")

The motor must change the speed when the voltage is changed at the input for the analog input.

Manual PD4-C (USB)7 General concepts

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7 General concepts

7.1 DS402 Power State machine

7.1.1 State machine

CANopen DS402

To switch the motor controller to an operational state, a state machine must be run through. This isdefined in CANopen standard DS402. State changes are requested in object 6040h (control word). Theactual state of the state machine can be read out from object 6041h (status word).

Control word

State changes are requested via object 6040h (control word). The following table lists the bitcombinations that lead to the corresponding state transitions.

State transitions

The diagram shows the possible state transitions.

Switch on disabled

Ready toswitch on

Switched on

Operationenabled

Quick stopactive

Fault

Fault reactionactive

Error occurs

Low-level powervoltage switched on for controller

High-level voltage can be switched on

High-level powervoltage switched on for controller

High-level voltage switched onNo torque at motor

Torquevoltage switched on for controller

High-level voltage switched ont

6

2 5

3 4

10

8

97

Not ready to switch on

Software cannotrectify error

State withvoltage at

Motor

State withoutvoltage at

Motor

No. of the transfer (seetable for explanation)

Selection ofoperating mode

admissible

Selection ofoperating modenot admissible

Start

13

112

The following table lists the bit combinations for the control word that lead to the corresponding statetransitions. An X corresponds to a bit state that is no longer to be considered. The single exception isthe fault reset: The transition is only requested by the rising flank of the bit.


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Command Bit in object 6040h Transition

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Shutdown 0 X 1 1 0 1, 5, 8

Switch on 0 0 1 1 1 2

Disable voltage 0 X X 0 X 6, 7, 9, 12

Quick stop 0 X 0 1 X 10

Disableoperation

0 0 1 1 1 4

Enableoperation

0 1 1 1 1 3

Fault reset X X X X 13

Holding torque in state "Switched On"

In the state "Switched On" no holding torque is build up by default. If a holding torque is necessary, thevalue "1" needs to be written in the object 3212h:01h.

VORSICHTIf the option "Holding torque in state Switched on" is enabled, it is possible that the motor gives a startwhen switching the operating modes.

Status word

The following table lists the bit masks that describe the state of the motor controller.

Status word (6041h) State

xxxx xxxx x0xx 0000 Not ready to switch on

xxxx xxxx x1xx 0000 Switch on disabled

xxxx xxxx x01x 0001 Ready to switch on

xxxx xxxx x01x 0011 Switched on

xxxx xxxx x01x 0111 Operation enabled

xxxx xxxx x00x 0111 Quick stop active

xxxx xxxx x0xx 1111 Fault reaction active

xxxx xxxx x0xx 1000 Fault

The motor controller reaches the "Switch on" state after it is switched on and the self-test is successful.

Operating mode

The set operating mode (6060h) becomes active in the "Operation enabled" state. The operatingmode can only be set or changed in the following states (see states enclosed by a dashed line in thediagram):

• Switch on disabled• Ready to switch on• Switched on

During operation ("Operation enabled"), it is not possible to change the operating mode. The "Fault"state is left when bit 7 in object 6040h (control word) is set from "0" to "1" (rising flank).

Note: If an error that cannot be corrected occurs, the motor controller changes to the "Not ready toswitch on" state and stays there. These errors include:

• Encoder error (e.g. due to missing shielding, cable breakage)


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This state can also be reached through a bus error with the EtherCAT field bus type. In this case, thesystem automatically changes back to the "Switch on disabled" state after the bus error is eliminated.

7.1.2 Behavior after the "Operation enabled" state is left

Brake reactions

Different brake reactions can be programmed when leaving the "Operation enabled" state.

These include the transitions described below.

The following diagram shows an overview of the brake reactions.

Switch on disabled

Ready toswitch on

Switched on

Operationenabled

Quick stopactive

Fault

Fault reactionactive

Error occurs

Low-level powervoltage switched on for controller

High-level voltage can be switched on

High-level powervoltage switched on for controller

High-level voltage switched onNo torque at motor

Torquevoltage switched on for controller

High-level voltage switched on

Not ready to switch on

Software cannot rectify error

Index of the object thatspecifies the reaction

Start

605Eh605Ch 605Bh

605Ah

Halt605Dh

disable voltage

Transfer withbrake reaction

Transfer withoutbrake reaction

Quick stop active

Transition to the "Quick stop active" state (quick stop option):

In this case, the action stored in object 605Ah is executed (see the following table).

Value in object 605Ah Description

-32768 to -1 Reserved

0 Immediate stop with short-circuit braking

1 Braking with "slow down ramp" (deceleration depending onoperating mode) and subsequent state change to "Switch ondisabled"


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Value in object 605Ah Description

2 Braking with "quick stop ramp" and subsequent state change to"Switch on disabled"

3 to 32767 Reserved

Ready to switch on

Transition to the "Ready to switch on" state (shutdown option):

In this case, the action stored in object 605Bh is executed (see the following table).

Value in object 605Bh Description




2 to 32767 Reserved

Switched on

Transition to the "Switched on" state (disable operation option):

In this case, the action stored in object 605Ch is executed (see the following table).

Value in object 605Ch Description




2 to 32767 Reserved

Stop

Stop:

When bit 8 is set in object 6040h (control word), the response stored in 605Dh is executed in velocitymode and profile velocity mode (see the following table).

Value in object 605Dh Description

-32768 to 0 Reserved

1 Braking with "slow down ramp" (deceleration depending onoperating mode)

2 Braking with "quick stop ramp" (deceleration depending on operatingmode)

3 to 32767 Reserved

Fault

Fault:

If an error should occur, the motor is braked as stored in object 605Eh.

Value in object 605Eh Description




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Value in object 605Eh Description

1 Braking with "slow down ramp" (deceleration depending onoperating mode)

2 Braking with "quick stop ramp" (deceleration depending on operatingmode)

3 to 32767 Reserved

7.2 User-defined units

7.2.1 Overview

Settings

The motor controller supports the possibility of setting user-defined units. In this way, thecorresponding parameters can be set and read out directly in degrees, mm, etc.

Pole pair count compensation

Differences in the pole pair counts of motors can be compensated. For this purpose, the value in object2060h must be set to "1". Then the pole pair count automatically enters the subsequent computation sothat different motors can be operated on the motor controller without requiring a new configuration.

7.2.2 Computation formulas for user units

Gear ratio

The gear ratio is calculated from the motor revolutions (6091h:1h (Motor Revolutions)) per shaftrevolution (6091h:2h (Shaft Revolutions)) as follows:

Motor revolution (6091h:1)Gear ratio =

Shaft revolution (6091h:2)

If object 6091h:1h or object 6091h:2h are set to "0", the firmware sets the value to "1".

Feed constant

The feed constant is calculated from the feed (6092h:1h (Feed Constant) per revolution of the drive axis(6092h:2h (Shaft Revolutions) as follows:

Feed rate =Feed (6092h:1)

Revolution of the drive axis (6092h:2)

This is useful to indicate the spindle pitch of a linear axis.

If object 6092h:1h or object 6092h:2h are set to "0", the firmware sets the value to "1".

Position

The current position in user units (6064h) is calculated as follows:

Actual position =Internal position x feed rate

Encoder resolution x gear ratio

Speed

The speed specifications of the following objects can likewise be specified in user units:

Object Mode Meaning

606Bh Profile Velocity Mode Output value of ramp generator


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Object Mode Meaning

60FFh Profile Velocity Mode Speed specification

6099h Homing mode Speed for searching the index/switch

6081h Profile Position Mode Target speed

6082h Profile Position Mode End speed

The internal speed in mechanical revolutions per second is multiplied by a factor for numerator (2061h)and denominator (2062h). The speed in user units is computed from

Speed =Internal speed x numerator factor (2061h)

Denominator factor (2062h)

If object 2061h or 2062h is to be set to "0", the firmware sets the value to "1".

Acceleration

The acceleration can also be output in user units:

Object Mode Meaning

609Ah Homing mode Acceleration

6083h Profile Position Mode Acceleration

6084h Profile Position Mode Deceleration

60C5h Profile Velocity Mode Acceleration

60C6h Profile Position Mode Deceleration

6085h "Quick stop active" state (DS402 PowerState machine)

Deceleration

The internal acceleration in mechanical revolutions per second squared is multiplied by a factorconsisting of a numerator (2063h) and denominator (2064h).

Internal acceleration x numerator factor (2063h)

Denominator factor (2064h)Acceleration =


Jerk

For the jerk, objects 60A4h:1h to 60A4h:4h can be specified in user units. These objects only affect theProfile Position Mode and Profile Velocity Mode.

The objects 2065h for the numerator and 2066h for the denominator are available. The values ofobjects 604Ah:1h to 4h are computed from the mechanical revolutions per second to the power of threemultiplied by a numerator and denominator:

Internal value x numerator factor (2065h)

Denominator factor (2066h)Jerk =


Positional data

All positional values in the open loop and closed loop mode are specified in the resolution of the virtualposition encoder. This is calculated from the encoder cycles (608Fh:1h (Encoder Increments)) permotor revolutions (608Fh:2h (Motor Revolutions)) multiplied by the polarity of the axis in object 607Ehbit 0. If bit 0 in object 607Eh is set to the value "1", this corresponds to a polarity reversal, or the value"-1" in the formula:


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Motor revolutions (608Fh:2)

Encoder cycles (608Fh:1)Resolution of the position encoder = polarity (607Eh Bit 0) x

If the value of 608Fh:1h or 608Fh:2h are set to "0", the motor controller continues computing internallywith a "1". The factory settings are:

• Encoder increments 608Fh:1h = "2000"• Motor revolutions 608Fh:2h = "1"• Polarity 607Eh bit 0 = "0" (does not correspond to a polarity reversal)

The resolution of the connected position encoder is set in object 2052h.

Manual PD4-C (USB)8 Operating modes

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8 Operating modes

8.1 Profile Position

8.1.1 Special feature PD4C USB

Note

Because this motor controller does not contain a field bus, the following operating mode is only usedwith the NanoJ program.

Further information on programming and use of a NanoJ program can be found in the "Programmingwith NanoJ" section.

8.1.2 Overview

Description

The Profile Position Mode is used to move to positions relative to the last target position or to theabsolute last reference position. During the movement, the limit values for the speed, acceleration anddeceleration and jerks are taken into account.

Activation

To activate the mode, the value "1" must be set in object 6060h (Modes Of Operation) (see "DS402Power State machine").

Control word

The following bits in object 6040h (control word) have a special function:

• Bit 4 starts a travel order. This is carried out on a transition of "0" to "1".• Bit 5: If this bit is set to "1", a travel order triggered by bit 4 is immediately carried out. If it is set to

"0", the travel order just being carried out is completed and only then is the next travel order started.• Bit 6: If "0", the target position (607Ah) is absolute and if "1", the target position is relative to the

actual position. The reference position is depending on the Bits 0 and 1 of the object 60F2h.• Bit 8 (Halt): At the transition from "1" to "0" the motor accelerates with the given start ramp to the

target velocity. At the transition from "0" to "1" the motor decelerates and will come to a halt. Thedeceleration is depending on the settings in the "Halt Option Code" in object 605Dh.

• Bit 9: If this bit is set, the speed is not changed until the first target position is changed. This meansthat braking is not performed before the first destination is reached as the motor should not stop atthis position.

Controlword 6040h

Bit 9 Bit 5 Definition

X 1 The new target position is moved to immediately.

0 0 The positioning is not completed until the next target position is being moved towith the new limitations.

1 0 The current speed is held until the current target position is reached, and onlythen is the new target position moved to with the new values.

Controlword 6040h


X 1 The new target position is moved to immediately.

0 0 The positioning is not completed until the next target position is being moved towith the new limitations.


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Controlword 6040h


1 0 The current speed is held until the current target position is reached, and onlythen is the new target position moved to with the new values.

See the figure in "Setting move commands".

Status word

The following bits in object 6041h (status word) have a special function:

• Bit 10: Target reached: This bit is set to "1" when the last target was reached and the motor is idlingfor a specified time (6068h) within a tolerance window (6067h).

• Bit 12 (set-point acknowledge): This bit confirms the receipt of a new and valid time. It issynchronously set and reset with the "New set-point" bit in the control word.

An exception is if a new travel is started when another travel has not yet been completed and thenext travel should only be carried out after the end of the first travel. In this case, the bit is only resetwhen the command has been accepted and the motor controller is ready to carry out new movecommands. If a new travel order is sent although this bit is still set, the latest travel order is ignored.

The bit is not set if one of the following conditions occurs:

• The new target position can no longer be reached if the marginal conditions are adhered to.• A target position has already been moved to and a target position has already been specified. A

new target position cannot be specified until the current positioning has been completed.• The new position is outside of the valid range (607Dh (Software Position Limit)).

• Bit 13 (Following Error): This bit is set in closed loop mode if the following error is greater than theset limits is (6065h (Following Error Window) and 6066h (Following Error Time Out)).

8.1.3 Setting move commands

Move command

In object 607Ah (Target Position), the new target position is specified in user units (see "User-definedunits"). Afterwards, the move command is triggered when bit 4 is set in object 6040h (control word). Ifthe target position is valid, the motor controller responds with bit 12 in object 6041h (status word) andbegins the positioning run. As soon as the position is reached, bit 10 is set to "1" in the status word.


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Profile of the move command

Destination point(607Ah)

ActualSpeed

New destinationpoint

(6040h, Bit 4)

Destination pointconfirmation

(6041h, Bit 12)

Destination pointreached

(6041h, Bit 10)

t

t

t

t

t

Further move commands

Bit 12 in object 6041h (status word, set-point acknowledge) changes to "0" if another move commandcan be buffered (see time 1 in the following diagram). While a target position is being moved to, asecond target position can be transferred to the motor controller in preparation. All parameters – suchas speed, acceleration, deceleration, etc. – can be reset (time 2). After the buffer is empty again, thenext time can be added to the sequence (time 3).

If the buffer is already full, a new time is ignored (time 4). If bit 5 in object 6040h (control word, bit:"Change Set-Point Immediately") is set, the motor controller operates without the buffer and new movecommands are implemented directly (time 5).

Times


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(6041h, Bit 12)

Destination point

SavedDestination point

Destination point

Apply changesimmediately

(6040h, Bit 5)

NewDestination point

(6040h, Bit 4)

1 2 3 4 5

A

A A B B B E

B

B --

-

-

C C

C D E


(6041h, Bit 10)

t

t

t

t

(607Ah)

Transition procedure for second target position

The following graphic shows the transition procedure for the second target position while the first targetposition is being moved to. In this figure, bit 5 of object 6040h (control word) is set to "1" and the newtarget value is adopted immediately.


ActualSpeed


(6040h, Bit 4)


(6041h, Bit 12)


(6041h, Bit 10)

t

t

t

t

t


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Options for moving to a target position

If bit 9 in object 6040h (control word) is "0", the actual target position is first moved to completely. In thisexample, the end speed (6082h ) of the first target position is zero. If bit 9 is set to "1", the end speed isheld until the target position is reached; only then do the new marginal conditions apply.


ActualSpeed


(6040h, Bit 4)

6040h Bit 9 = 1

6040h Bit 9 = 0


(6041h, Bit 12)


(6041h, Bit 10)

t

t

t

t

t

8.1.4 Marginal conditions for a positioning run

Object entries

The marginal conditions for the position to which the run is made can be set in the following entries ofthe object directory:

• 6064h (Position Actual Value): Actual position of the motor• 607Ah (Target Position): Planned target position• 607Bh (Position Range Limit): Definition of the limit stops (see the section below)• 607Ch (Home Offset): Shifting of the machine zero point (see "Homing")•• 607Eh (Polarity): Direction of rotation• 6081h (Profile Velocity): Maximum speed with which the position should be moved to• 6082h (End Velocity): Speed when reaching the target position• 6083h (Profile Acceleration): Required acceleration• 6084h (Profile deceleration): Required deceleration• 6085h (Quick Stop Deceleration): Emergency stop deceleration in case of the "Quick stop active"

state of the "DS402 Power State machine"• 6086h (Motion Profile Type): Type of ramp to be moved to; if the value is "0", jerk is not limited, if

value is "3", the values from 60A4h :1h - 4h are set as jerk limitations.• 60C5h (Max Acceleration): The maximum acceleration that may not be exceeded when moving to

the end position.• 60C6h (Max Deceleration): The maximum deceleration that may not be exceeded when moving to

the end position• 60A4h (Profile Jerk), subindex 01h to 04h : Objects for describing the limit values for the jerk. This

value will be clipped by the "Real Jerk Limit" (see 2067h for further information).• 2067h (Jerk Limit (internal)): object for the jerk limit.


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Objects for the positioning run

The following graphic shows the objects involved for the marginal conditions for the positioning run.

Limit function

Target position 607Ah

Position range limit 607Bh

Software position limit 607Dh Multiplier

Polarity 607Eh

Target position

Limit function

Multiplier

Profile velocity 6081h

End velocity 6082hTrajectorygenerator

Profile velocityor end velocity

Limit function

Profile acceleration 6083h

Profile deceleration 6084h

Quick-stop deceleration 6085h

Max acceleration 60C5h

Max deceleration 60C6h

Profile accelerationor profile deceleration

or quick-stop deceleration

Quick-stop option code 605Ah

Motion profile type 6086h

Position demand internal value

Positioning option code 60F2h

Parameters for the target position

The following diagram shows an overview of the parameters that are used for moving to a targetposition (figure is not to scale).


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Set point (607Ah)

Profile velocity (6081h)

t

t

t

t

rela

tive

(604

0 h B

it 6=

1)

abso

lute

(60

40h

Bit

6=0)

Pos

ition

Acc

eler

atio

nJe

rkS

peed


Begin accelerationjerk (60A4h:1)

Begin decelerationjerk (60A4h:3)

End accelerationjerk (60A4h:2)

End decelerationjerk (60A4h:4)


Profile acceleration (6083h)

Profile deceleration (6084h)

End velocity (6082h)

8.1.5 Jerk-limited and non-jerk-limited mode

Description

Two basic modes exist: the "jerk-limited" and "non-jerk-limited" mode.

Jerk-limited mode

A jerk-limited positioning is achieved by setting object 6086h to "3". This causes the entries for the jerksin object 60A4h:01h- 04h to become valid.

Non-jerk-limited mode

A "0" in an entry means that there is no jerk limitation at the particular point in the profile.

If all four entries of object 60A4h are set to "0", a non-jerk-limited ramp is traveled.

A "non-jerk-limited" ramp is traveled in two ways: either all values of the jerk in the entries 60A4h:01h to60A4h:04h are set to "0" and the object 6086h is set to "3", or the entry in the object 6086h is set to "0".


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8.2 Velocity


Note



8.2.2 Description

This mode operates the motor with a specified target in a manner similar to a frequency converter. Incontrast to profile velocity mode, this mode operates without a speed monitor and does not permit jerk-limited ramps to be selected.

8.2.3 Activation


8.2.4 Control word


• Bit 2 is used to trigger an quick stop. If it is set to "0", the motor carries out a quick stop with theramp set in object 604Ah. Then the motor controller changes to the "Switch on disabled" state (see6040h).

• Bit 8 (Stop): On a transition of "0" to "1" the motor accelerates up to the target speed with the setacceleration ramp. On a transition of "1" to "0", the motor brakes according to the brake ramp andcomes to a stop.

8.2.5 Status word


• Bit 11: Limit exceeded: The target speed exceeds or undercuts the entered limit values.

8.2.6 Object entries

The following objects are required to control this mode:

• 604Ch(Dimension Factor):

The unit for the speed specifications for the following objects are defined here. If subindices 1 and 2are set to value "1", the speed is indicated in revolutions per minute.

Otherwise, subindex 1 contains the multiplier and subindex 2 the divisor with which the speedspecifications are computed. The result is interpreted as revolutions per second; at object 2060h,the selection is made of whether these are electrical (2060h= 0) or mechanical (2060h= 1)revolutions per second.

The target speed is set in user units here.• 6042h: Target Velocity• 6048h: Velocity Acceleration

This object defines the start acceleration. Subindex 1 contains the speed change, and subindex 2the associated time in seconds. Both together are computed as the acceleration:

Delta time (6048h:2)

Delta speed (6048h:1)VL velocity acceleration =


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• 6049h (Velocity Deceleration):

This object defines the deceleration. The subindices are structured as described in object 6048h,and the speed difference must be indicated by a positive sign.

• 6085h (Quick Stop Deceleration):

Emergency stop deceleration in case of the "Quick stop active" state of the "DS402 Power Statemachine"

• 6046h (Velocity Min Max Amount):

In this object the limitations to target speeds are specified.

The minimum speed is set in 6046h:01h. If the target speed (6042h) drops below the minimumspeed, the value is limited to the minimum speed 6046h:01h.

The maximum speed is set in 6046h:02h. If the target speed (6042h) exceeds the maximum speed,the value is limited to the maximum speed 6046h:02h.

• 604Ah (Velocity Quick Stop):

The quick stop ramp can be set with this object. Subindices 1 and 2 are the same as specified forobject 6048h.

Speeds in Velocity Mode

Delta time6048h:2

Delta time6049h:2

Delta speed6048h:1

Delta speed6049h:1

VL target velocity 6042h

VL velocity maxamount 6046h:2

VL velocity minamount 6046h:1S

peed

t

Objects for the Velocity Mode

The ramp generator follows the target speed while adhering to the set speed and acceleration limits. Bit11 is set in object 6041h (internal limit active) when a limitation is active.

Factorfunction

VL target velocity 6042h

VL dimension factor 604Ch

VL velocity min max amount 6046h

VL velocity acceleration 6048h

VL velocity deceleration 6049h

VL quick-stop 604Ah

Control word 6040h Bit 8 (halt)

Rampfunction

Velocitylimit

functionVelocitycontrolfunction

Reversefactor

function

VL velocityactual value

6044h

VL velocitydemand 6043h

Status word 6041h Bit 11(internal limit active)

Reversefactor

function

8.3 Profile Velocity


Note



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Note


8.3.2 Description

This mode operates the motor in Velocity Mode with expanded ramps. Unlike velocity mode (see"Velocity"), the actual speed can be monitored via an external encoder in this mode.

8.3.3 Activation


8.3.4 Control word


• Bit 2 is used to trigger an quick stop. If it is set to "0", the motor carries out a quick stop with theramp set in object 6085h. Then the motor controller changes to the "Switch on disabled" state(6040h).

• Bit 8 (Stop): On a transition of "0" to "1", the motor accelerates up to the target speed with the setstarting ramp. On a transition of "1" to "0", the motor brakes and comes to a stop.

8.3.5 Status word

The following bits in object 6041h(status word) have a special function:

• Bit 10 (target speed reached); Target Reached: This bit in combination with bit 8 in the control wordindicates whether or not the target speed has been reached, the motor is braking, or the motor isidling (see table).

6041h

Bit 10

6040h

Bit 8

Description

0 0 Target speed attained

0 1 Axis is braking

1 0 The target speed within the target window (defined in 606Dh and606Eh)

1 1 Speed of axis is 0



• 606Bh(Velocity Demand Value):

This object contains the output of the ramp generator which is the specified value for the speedcontroller at the same time.

• 606Ch(Velocity Actual Value):

Specifies the current actual speed.• 606Dh(Velocity Window):

This value specifies by how much the actual speed may vary from the set speed for bit 10 (targetspeed reached; Target Reached) in object 6041h(status word) is to be set to "1".

• 606Eh(Velocity Window Time):

This object indicates how long the actual speed and the set speed must be near each other inmagnitude (see 606Dh"Velocity Window") for bit 10 "Target Reached" in object 6041h(status word)to be set to "1".

• 607Eh(Polarity):


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If bit 6 is set to "1", the sign (plus/minus) of the target speed is reversed.• 6083h(Profile acceleration):

Sets the value for the acceleration ramp in velocity mode.• 6084h(Profile Deceleration):

Sets the value for the braking ramp in velocity mode.• 6085h(Quick Stop Deceleration):

Sets the value for the braking ramp for the quick stop in velocity mode.• 6086h(Motion Profile Type):

Here the ramp type can be selected (0 = trapezoid ramp, 3 = jerk-limited ramp).• 604Ah(Velocity Quick Stop), subindex 01h to 04h :

The four jerk values are specified here if a jerk-limited ramp is set.• 60FFh(Target Velocity):

Specifies the target speed to be attained.• 2031h(Peak Current):

Maximum current in mA

Objects in Profile Velocity Mode

Polarity 607Eh

Motion profile type 6086h

Jerks 60A4h:1 to 60Ah:4

Profile acceleration 6083h

Target velocity 60FFh

Profile deceleration 6084h

Quick-stop deceleration 6085hMax acceleration 60C5hMax deceleration 60C6h

Trajectorygenerator

Limit function

Multiplier

Velocity demandvalue 606Bh

Mode activation

After the mode was selected in object 6060h(Modes of Operation) and the "Power State machine" (see"DS402 Power State machine") was switched to "Operation Enabled", the motor is accelerated to thetarget speed in 60FFh(see the following diagrams). The speed, the acceleration and, in the case ofjerk-limited ramps, the jerk limited values are taken into account.

Limitations in the jerk-limited case

The following diagram shows the adjustable limitations in the jerk-limited case (6086h=3).


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Acc

eler

atio

nJe

rkS

peed

Profile velocity (60FFh)

t

t

t


Begin accelerationjerk (60A4h:1)

End decelerationjerk (60A4h:4)




Velocity window (606Dh)


Begin decelerationjerk (60A4h:3)

End accelerationjerk (60A4h:2)

Limitations in trapezoid case

This diagram shows the adjustable limitations for the trapezoid case (6086h= 0).

Acc

eler

atio

nS

peed

Profile velocity (60FFh)







t

t

8.4 Profile Torque


Note



8.4.2 Description

In this mode, the torque is specified as the set point and is moved to via a ramp function.


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8.4.3 Activation

To activate the mode, the value "4" must be set in object 6060h(Modes Of Operation) (see "DS402Power State machine").

8.4.4 Control word

The following bits in object 6040h(control word) have a special function:

• Bit 8 (Stop): If this bit is set to "0", the motor is started according to the specifications. When set to"1", the motor is brought to idling according to the specified values.

8.4.5 Status word


• Bit 10 (Target Reached): This bit in combination with bit 8 of object 6040h(control word) indicateswhether or not the specified torque has been reached (see the following table).

6040h

Bit 8

6041h

Bit 10

Description

0 0 Specified torque not attained

0 1 Specified torque attained

1 0 Axis accelerated

1 1 Speed of axis is 0


All values of the following entries in the object directory must be specified as one thousandth of themaximum torque, which corresponds to the maximum current (2031h). This includes the followingobjects:

• 6071h(Target Torque):

Target value of the torque• 6072h(Max Torque):

Maximum torque during the entire ramp (acceleration, hold torque, brake)• 6074h(Torque Demand):

Current output value of the ramp generator (torque) for the control• 6087h(Torque Slope):

Maximum change of the torque per second• 3202h Bit 5 (Motor Drive Submode Select):

If this bit is set to "0", the drive control is operated in torque-limited velocity mode, i.e. the maximumspeed can be limited in object 2032h and the control can work in field weakening mode.

If this bit is set to "1", the control works in torque mode, the maximum speed cannot be limited hereand field weakening mode is not possible.

Objects of the ramp generator

Trajectorygenerator

Target torque 6071h

Torque demand 6074hMax torque 6072h

Torque slope 6087h


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Torque curve

Target torque 6071h

Torque slope6087h

1sec

Tor

que

1sec

Torque slope6087h

t

8.5 Homing


Note



8.5.2 Overview

Description

The purpose of the reference run (homing method) is to synchronize the motor controller with theencoder index of the motor or position switch in a system.

Activation

To activate the mode, the value "6" must be set in object 6060h(Modes Of Operation) (see "DS402Power State machine").

If a reference and/or limit switch is used, these special functions first need to be activated in the I/Oconfiguration (see "Digital inputs and outputs").

Control word

The following bits in object 6040h(control word) have a special function:

• Bit 2 is used to trigger an quick stop. If it is set to "0", the motor carries out a quick stop with theramp set in object 6085h. The motor then goes into "Switch on disabled" mode (see the "DS402Power State machine" section).

• Bit 4: If the bis is set to "1", the referencing is started. This is set forth until either the referenceposition is reached or bit 4 is set to "0" again.

Status word


Bit 13 Bit 12 Bit 10 Description

0 0 0 Homing procedure is in progress

0 0 1 Homing procedure is interrupted or not started

0 1 0 Homing is attained, but target is not reached

0 1 1 Homing procedure is completed successfully


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Bit 13 Bit 12 Bit 10 Description

1 0 0 Homing error occurred, velocity is not 0

1 0 1 Homing error occurred, velocity is 0

Object entries


• 607Ch (Home Offset): Specifies the difference between the zero position of the application and thereference point of the machine.

• 6098h(Homing Method):

Method used for referencing (see "Reference run method")• 6099h:01h (Speed During Search For Switch):

The speed for the search for the switch• 6099h:02h (Speed During Search For Zero):

The speed for the search for the index• 609Ah(Homing Acceleration):

Acceleration and deceleration for the reference run• 2056h(Limit Switch Tolerance Band):

After moving to the positive or negative limit switch, the motor controller permits a tolerance rangethat the motor may not further travel. If this tolerance range is exceeded, the motor stops and themotor controller changes to the "Fault" state. If limit switches can be activated during the referencerun, the tolerance range selected should be sufficiently large so that the motor does not leave thetolerance range when braking. Otherwise, the reference run cannot be completed successfully.After completion of the reference run, the tolerance range can be set back to "0" if this is required bythe application.

• 203Ah:01h (Minimum Current For Block Detection):

Minimum current threshold that, when exceeded, detects blocking of the motor at a block.• 203Ah:02h (Period Of Blocking):

Specifies the time in ms that the motor is nevertheless still to travel against the block after blockdetection.

• 203Ah:03h (Block Detection Time)

Specifies the time in ms that the current has to be at least above the minimum current threshold inorder to detect a block

Speeds of the reference run

The figure shows the speeds of the reference run using method 4 as an example:


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Spe

edA

ccel

erat

ion

6099h:1

4

609Ah

609Ah

6099h:2

Index pulse

Referenceswitch

Tolerance bands of the limit switchesForbidden

AreaForbidden

AreaTolerancezone 2056h

Tolerancezone 2056h

Negativedirection

Negativelimit switch

Positivelimit switch

Referenceswitch

Positivedirection

8.5.3 Reference run method

Description

The reference run method is written into object 6098h as a number and defines whether referencingshould be performed on a switch flank (rising/falling), a current threshold for block detection or an indexpulse is referenced, or in which direction the reference run should start. Methods that use the indexpulse of the encoder are within the number range 1 to 14, 33 and 34. Methods that reference a limitswitch are between 17 and 30, but their travel profiles are identical with those of the methods 1 to 14.These numbers are shown in circles in the following figures. Methods that do not use a limit switch, andinstead travel against a block is to be detected, must be called up with a minus in front of the methodnumber.

For the following diagrams, the negative movement direction is to the left. The limit switch is located infront of the mechanical block in each case, and the reference switch (home switch) is between the twolimit switches. The index pulses come from the encoder, which is connected with the motor shaft andmotor controller.

For methods that use homing on block, the same illustrations apply as for the methods with limit switch.New illustrations are not shown as nothing changes except for the missing limit switches. In this case,the limit switches have to be replaced by a mechanical block in the illustrations.


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Homing on block

Homing on block functions perfectly only in closed loop mode at the moment. The finer points that haveto be observed for homing on block in closed loop mode, for instance, are given in detail in the sectionon controls.

For certain applications it is appropriate to travel against the block for a specific time after a block hasbeen detected. This time can be set in object 203Ah:02h in ms.

To ensure very precise detection of the block, the block should be traveled against with a very lowspeed (6099h:01h ), high current limit (203Ah:01h ), and high homing acceleration (609Ah). Additionally,detection can be refined by the block detection time (203Ah:03h ).

Methods overview

Methods 1 to 14, and 33 and 34 use the index pulse of the encoder.

Methods 17 to 32 are identical with the methods 1 to 14 with the exception that referencing is onlyperformed on the limit or home switch and not on the index pulse.

• Methods 1 to 14 contain an index pulse• Methods 15 and 16 do not exist• Methods 17 to 30 do not have an index pulse• Methods 31 and 32 do not exist• Methods 33 and 34 reference only to the next index pulse• Method 35 references to the actual position

The following methods can be used for homing on block:

• Methods -1 to -2 and -7 to -14 contain an index pulse• Methods -17 to -18 and -23 to -30 do not have an index pulse

Methods 1 and 2

Reference the limit switch and index pulse.

Method 1 references a negative limit switch and index pulse:

Index pulse


1

Method 2 references a positive limit switch and index pulse:

2

Index pulse

Positivelimit switch

Methods 3 to 6

These methods reference the switch flank of the reference switch and index pulse.

In the methods 3 and 4, the left switch flank of the reference switch is used as a reference:


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Index pulse

3

3

4

4

Reference switch

In the methods 5 and 6, the right switch flank of the reference switch is used as a reference:

Index pulse

5

5

6

6

Reference switch

Methods 7 to 14

These methods reference the home switch and index pulse (with limit switches).

For these methods, the actual position relative to the reference switch is unimportant. With method 10,referencing is for instance always to the index pulse on the right next to the right flank of the referenceswitch.

The methods 7 to 10 take the positive limit switch into account:

Index pulse

8

7 9

9

9

7

8

8

7

10

10

10

Reference switch

Positive limit switch

The methods 11 to 14 take the negative limit switch into account:


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Index pulse

11

12

12

12

13

13

13

14

14

14

11

11

Referenceswitch


Methods 17 and 18

These methods reference the limit switch without the index pulse.

Method 17 references the negative limit switch:

17


Method 18 references the positive limit switch:

18


Methods 19 to 22

These methods reference the switch flank of the reference switch without the index pulse.

In the methods 19 and 20 (equivalent to methods 3 and 4), the left switch flank of the reference switchis used as a reference:


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19

19

20

20

Referenceswitch

In the methods 21 and 22 (equivalent to methods 5 and 6), the right switch flank of the reference switchis used as a reference:

21

21

22

22

Reference switch

Methods 23 to 30

These methods reference the home switch without the index pulse (with limit switches).

For these methods, the actual position relative to the reference switch is unimportant. With method 26,referencing is for instance always to the index pulse on the right next to the right flank of the referenceswitch.

The methods 23 to 26 take the positive limit switch into account:


24

23

23

24

23

24

26

25

26

25

25

26

Reference switch

The methods 27 to 30 take the negative limit switch into account:


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30

29

30

29

29

30

28

27

27

28

27

28

Reference switch

Methods 33 and 34

Reference the next index pulse.

For these methods, referencing is only to respective next index pulse:

Index pulse

33

34

Method 35

References to the actual position.

8.6 Cyclic Synchronous Position


Note



8.6.2 Overview

Description

In this mode, the motor controller receives an absolute positional specification at fixed time intervals(called "cycles" below) via the field bus. In this case, the motor controller no longer computes rampsbut only follows the specifications.

The target position is transfered via PDO, to which the motor controller responds promptly. Bit 4 in thecontrol word does not have to be set (in contrast to Profile Position mode).


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Note

The target specification is absolute and thus independent of how often it was sent per cycle.

Activation


Control word

In this mode, the bits of control word 6040h do not have a special function.

Status word


Bit Value Description

10 0 Reserved

10 1 Reserved

12 0 The motor controller does not follow the target specification; thespecification of the 607Ah (Target Position) is ignored.

12 1 The motor controller follows the target specification; the object 607Ah(Target Position) is used as the input for the position control.

13 0 Reserved

13 1 Reserved



• 607Ah (Target Position): The position set value must be cyclically written to this object.• 607Bh (Position Range Limit): This object contains the specification for an overflow or underflow of

the position value.• 607Dh (Software Position Limit): This object specifies the limits within which the position

specification must be found (607Ah).• 6065h (Following Error Window): This object specifies a tolerance corridor in both the positive and

negative direction from the set specification. If the actual position is outside of this corridor for longerthan the specified time (6066h), a "following error" is issued.

• 6066h (Following Error Time Out): This object specifies the time period in milliseconds. If the actualposition is outside of the position corridor (6065h) for longer than this time period, a "following error"is issued.

• 6085h (Quick-Stop Deceleration): This object contains the deceleration in case a Quick Stop istriggered.

• 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the eventof a Quick Stop.

• 60C2h:01h (Interpolation Time Period): This object specifies the time period of a cycle. Within thistime period, a new set value must be written to 607Ah.

The following applies: cycle time = value of the 60C2h:01h * 10value of 60C2:02 seconds.

At this time, only cycle times should be used that correspond to a power of two, i.e. 1, 2, 4, 8, 16,etc. The time unit of the cycle time is defined by object 60C2h:02h.

• 60C2h:02h (Interpolation Time Index): This object specifies the time basis for cycles. At this time,only the value 60C2h:02h=-3 is supported, which results in a time basis of 1 millisecond.

• 2031h (Peak Current): This object specifies the maximum current in mA.

The following objects can be readout in this mode:

• 6064h (Position Actual Value)


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• 606Ch (Velocity Actual Value)• 60F4h (Following Error Actual Value)

8.7 Cyclic Synchronous Velocity


Note



8.7.2 Overview

Description

In this mode, the motor controller receives a speed specification at fixed time intervals (called "cycles"below) via the field bus. In this case, the motor controller no longer computes ramps but only followsthe specifications.

The target position is transfered via PDO, to which the motor controller responds promptly. Bit 4 in thecontrol word does not have to be set (in contrast to Profile Velocity mode).

Activation


Control word


Status word



10 0 Reserved

10 1 Reserved

12 0 The motor controller does not follow the target specification; thespecification of the 60FFh (Target Velocity) is ignored.

12 1 The motor controller follows the target specification; the object 60FFh(Target Velocity) is used as the input for the position control.

13 0 No following error

13 1 Following error



• 60FFh (Target Velocity): The speed set value must be cyclically written to this object.• 6085h (Quick-Stop Deceleration): This object contains the deceleration in case a Quick Stop is

triggered (see "DS402 Power State machine").• 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the event

of a Quick Stop (see "DS402 Power State machine").


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• 60C2h:01h (Interpolation Time Period): This object specifies the time period of a cycle. Within thistime period, a new set value must be written to 60FFh.





The following objects can be readout in this mode:

• 606Ch (Velocity Actual Value)• 607Eh (Polarity)

8.8 Cyclic Synchronous Torque


Note



8.8.2 Overview

Description

In this mode, the motor controller receives an absolute torque value at fixed time intervals (called"cycles" below) via the field bus. In this case, the motor controller no longer computes ramps but onlyfollows the specifications.

The target position is transfered via PDO, to which the motor controller responds promptly. Bit 4 in thecontrol word does not have to be set (in contrast to Profile Torque mode).

Activation


Control word


Status word



10 0 Reserved

10 1 Reserved

12 0 The motor controller does not follow the target specification; thespecification of the 6071h (Target Torque) is ignored.

12 1 The motor controller follows the target specification; the object 6071h(Target Torque) is used as the input for the position control.

13 0 Reserved


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13 1 Reserved



• 6071h (Target Torque): The torque set value must be cyclically written to this object.• 60C2h:01h (Interpolation Time Period): This object specifies the time period of a cycle. Within this

time period, a new set value must be written to 60FFh.





The following object can be readout in this mode:

• 606Ch (Velocity Actual Value)

8.9 Clock/direction mode

8.9.1 Description

This mode is equivalent to the velocity mode but uses pules of two input pins as target.

The analogue mode is only controlled by the "enable"-input: as long as the "enable"-input is not set tological "high" level the motor won’t start driving.

8.9.2 Activation

The activation is not done via the object dictionary but a DIP-switch. For the settings of the switchessee chapter "DIP switches" nach.

8.9.3 General

The following data apply to all sub modes of the clock/direction mode:

• The maximum frequency of the input pulses are limited at 1MHz, the ON-part is not allowed to getshorter than 200 ns.

t min. 1µs(max. 1MHz)

min.200ns

clockinput

• The scaling of the steps is done via the objects 2057h and 2058h. The following formula is applied:

step width per pulse = 2057h

2058h

By default the value for "step width per pulse" is "512", which is equal a full step per pulse. A halfstep is the value "256", a quarter step accordingly "128" and so on.


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Note

During a change of direction it is necessary to let the time of 35µs lapse away before applying anew clock.

8.9.4 Sub modes of the clock/direction mode

Clock/direction-mode (CD-Modus)

In this mode the clock pulses have to be put to the "clock input", the direction signal is affection thedirection (see following image).

clockinput

directioninput

min.35µs

t

t

Clockwise/counterclockwise mode (CW/CCW-mode)

The object 205Bh needs to be set to "1" in order to activate this mode.

In this sub mode the used input determines the direction of rotation (see following image).

clockinput

directioninput

t

t

min.35µs

8.10 Analogue Mode

8.10.1 Description

This mode is an equivalent to the velocity mode but uses the height of a voltage of an analogue inputas target. This values gets sampled once in a millisecond.

The analogue mode is only controlled by the “enable”-input: as long as the “enable”-input is not set tological “high” level the motor won’t start driving.


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The maximal analogue input value is denoted in the following as Umax.

8.10.2 Activation

The activation is not done via the object dictionary but a DIP-switch. For the settings of the switchessee chapter "DIP switches".

8.10.3 Accounting of analogue voltages

There are two modes of accounting of the analogue voltages. This mode is selected by the DIP switchnumber 2 (see chapter "DIP switches").

Normal modeDIP switch 2 “OFF”: The maximum of the analogue voltage corresponds the maximal rotationalspeed. The direction is set by the “direction” input. There is a dead-zone from 0 V to 20 mV inwhich the motor doesn’t drive.

Analogue input voltage

rotational speed

dead zone

0 Vn = 0

+max

Umax

Joystick modeDIP switch 2 “ON”: The half of the maximum analogue input voltage corresponds to therotational speed zero. If the input voltage falls below the half input voltage, the rotational speedincreases in negative direction. Accordingly if the input voltage increases over the half of theinput voltage the rotational speed increases in positive direction. The dead zone reaches from nUmax/2 ± 20 mV.

Analogue input voltage

Rotational speed

dead zone

0 V Umax/2-max

+max

Umax

8.10.4 Maximum speed of rotation

The maximum speed of rotation can be switched with DIP-switch number 3 (see chapter "DIPswitches") between 100 rev/min and 1000 rev/min. In case another rotational speed is necessary themaximums rotational speed can set in the configuration file and the object 604Ch subindex 01h and02h.

Manual PD4-C (USB)9 Special functions

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9 Special functions

9.1 Digital inputs and outputs

The motor controller has digital inputs and outputs.

9.1.1 Digital inputs

Overview

Note

The digital inputs are sampled only once a millisecond. Changes in the input signal shorter than onemillisecond cannot be processed.

The following inputs are available:

Input Special Function Signal thresholdswitchable

Differential / single ended

1 Negative limit switch no, 24 V fest single ended

2 Positive limit switch no, 24 V fest single ended

3 Limit switch no, 24 V fest single ended

4 -Enable

5 +Enable

6 -Direction

7 +Direction

8 -Clock

9 +Clock

The inputs regarding"Enable", "Direction" and"Clock" can only be switchall at once between 5 V or24 V (see 3240h:06h)

The inputs regarding"Enable", "Direction"and "Clock" can only beswitch all at. Set to "singleended" the negative input isdeactivated (e.g. "-Enable")(see 3240h:07h)

Object entries

The following OD settings can be used to manipulate the value of an input, in which case only the bitthat corresponds to that input will have an effect:

• 3240h:01h

This bit is used to switch the special functions of an input on (value "0") or off (value "1"). If input 1 isnot to be used as a negative limit switch, for example, the special function must be switched off sothat the signal encor is not erroneously responded to. The object has no effects on bits 16 to 31.

The firmware evaluates the following bits during a reference run (homing method):

• Bit 0: negative limit switch• Bit 1: positive limit switch• Bit 2: reference switch

• 3240h:02h

This bit changes from closer logic (a logical high level at the input yields the value of "1" in object60FDh) to opener logic (the logical high level at the input yields the value of "0"). This applies to thespecial functions (except the clock and directional inputs) and for the normal input. The input is setas closer logic if the corresponding bit is "0", it is set to opener logic with the value "1" respectively.

• 3240h:03h

This bit switches on software simulation of the input values when it is set to "1". In this case, theactual values are no longer used; the values set in object 3240h:04h for the respective input areused instead.

• 3240h:04h


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This bit specifies the value to be read in as the input value if the same bit was set in object3240h:03h.

• 3240h:05h

This object contains the unmodified input value.

Computation of the inputs

Computation of the input using input 1 as an example:

The value of bit 0 of object 60FDh is interpreted by the firmware as a negative limitation switch, and theresult of the complete computation is stored in bit 16.

60FDh

Range in which the firmware expectsspecial entries (reference and limit switches)

Range of the calculatedBits

Bit0Bit15Bit16Bit31

Default setting

Value of the input pin 1

Bit in 3240h:4

1: value = 1

0: value = 0

Bit in 3240h:2

1: invert logic

0: do not invert logic

Alternative

Bit in 3240h:1

0: switch pin off

1: do not switch pin off

Bit in 3240h:2

1: invert logic

0: do not invert logic

Bit in 3240h:3

1: value forced

0: value not forced

9.1.2 Digital outputs

Outputs

The outputs are controlled using object 60FEh. Output 1 corresponds to bit 16 in object 60FEh, output2 corresponds to bit 17, etc., as with the inputs. The outputs with special functions are again entered inthe firmware in the lower bits 0 to 15. Currently only bit 0 is assigned that controls the motor brake.

Object entries

Additional OD entries exist for manipulating the value of the outputs (see the following example fordetails). Similar to the inputs, only the bit at the corresponding position always has an effect on therespective output:

• 3250h:02h

This can be used to change the logic from "closer" to "opener". When configured as a "closer", theoutputs a logical high level if the bit is "1". When configured as an "opener", the outputs a logical lowlevel if there is a "1" in object 60FEh.

• 3250h:03h

If a bit is set in 3250h, the output is manually controlled. The value for the output is then contained inobject 3250h:04h , which is also possible for the brake output.

• 3250h:04h

The bits in this object specify the output value that is to be applied to the output when the manualcontrol of the output is activated by object 3250h:03h.


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• 3250h:05h

This object does not have any function and is included for compatibility reasons.

Bits of the outputs

Example of the computation of the bits for the outputs:

Range of normaloutput pins

Range of output pinswith special function

Bit 31 Bit 16

Bit in 3250h:3

0: Value not forced

1: Value forced

0: Value = 0

1: Value = 1

0: Do not invert logic

1: Inverted logic

Bit in 3250h:2

Value of Brake

Bit in 3250h:4

Bit in 3250h:3

0: Value not forced

1: Value forced

0: Value = 0

1: Value = 1

0: Do not invert logic

1: Inverted logic

Bit in 3250h:2

Value of Output Pin1

Bit in 3250h:4

Standard setting

Alternative

Bit 15 Bit 0

60FEh

9.2 I2t motor overload protection

9.2.1 Description

I2t motor overload protection has the goal of preventing damage to the motor and of simultaneouslyoperating it normally at its thermal limit.

The function is only available when the motor controller is in closed loop operating mode (bit 0 of object3202h set to "1") and the motor is not in profile torque mode or cycle synchronous torque mode.

There is a single exception: If I2t is activated open loop mode, the current is limited to the set nominalcurrent even when the set maximum current is greater. This feature was implemented for safetyreasons, so that it is also possible to switch out of closed loop mode and into open loop mode with avery high short-time maximum current without damaging the motor.


The following objects affect I2t motor overload protection:

• 2031h: Peak Current - specifies the maximum current in mA.• 203Bh:1h Nominal Current - specifies the nominal current in mA.


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• 203Bh:2h Maximum Duration Of Peak Current - specifies the maximum time period of the maximumcurrent in ms.

The following objects indicate the actual state of I2t:

• 203Bh:3h Threshold - specifies the limit in mA, from which is determined whether switching is to themaximum current or nominal current.

• 203Bh:4h CalcValue - specifies the calculated value that is compared to the threshold in order to setthe current.

• 203Bh:5h LimitedCurrent - shows the actual current value that was set by I2t.• 203Bh:6h Status:

• Value = "0": I2t deactivated• Value = "1": I2t activated

9.2.3 Activation

The three object entries above must have been appropriately specified to activate the mode. Thismeans that the maximum current must be greater than the nominal current, and a time value must beentered for the maximum time of the maximum current. I2t operability remains deactivated when theseconditions are not satisfied.

9.2.4 Function of I2t

A I2TLim is calculated by specifying the nominal current, maximum current, and maximum time periodfor the maximum current.

The motor can run with maximum current until the calculated I2TLim is reached. The current is thenimmediately reduced to the nominal current.

The following diagram again shows the interactions.

Strom

t1 t2t1

Limt2

Lim

I2t

I2t

t

Maximumcurrent

Nominalcurrent

In the first section t1, the current value is higher than the nominal current. At time t1Lim, I2tLim is reachedand the current is limited to the nominal current. During the following time period t2, a current comesthat corresponds to the maximum current. Accordingly, the value for I2tLim is reached faster than in timeperiod t1.


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9.3 Save Objects

Objects can only be saved with the file pd4cfg.txt , the save machanism with the object 1011h and1010h is deactivated with this controller.

Manual PD4-C (USB)10 Programming with NanoJ

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10 Programming with NanoJ

10.1 Introduction

The VMM (Virtual Machine Monitor) is a protected execution environment within the firmware. Theuser can load his or her own programs ("User Program") in this environment via usb. These can triggerfunctions in the motor controller, for example by reading or writing entries in the object directory.

The use of protective mechanisms makes it impossible for the user programs to cause the actualfirmware to crash. In the worst case, the user program alone is aborted with an error code stored in theobject directory.

10.2 Available computing time

A user program receives computing time in a 1-ms cycle (see also the following diagram). Because thefirmware loses computing time due to interrupts and system functions, only about 30% - 50% of thistime is available to the user program (depending on the operating mode and application case). Duringthis time, the user program must have completed its operations and must either have closed or haveyielded the computing time with the yield() function. In the first case, the user program is startedagain when the next 1-ms cycle begins; in the second case, the program is continued at the commandfollowing the yield() in the next 1-ms cycle.

t in ms3210

Idle

VMM

Operating

Read inputs

Write outputs

system

If the system detects that the user program requires more than the time assigned to it, it is closed andan error code is entered in the object directory. When developing user programs, therefore, the runtimebehavior of the program must be carefully checked, especially in the case of time-intensive tasks.Therefore, it is advisable to use tables, instead of calculating a sinus value from a sin function.

Note

If the NanoJ program should not return the computing time for an excessive time, it is ended by theoperating system. In this case, the number "4" is entered in the status word at object 2301h of theVMM; the number "5" (timeout) is noted in the VMM error register at object 2302h.

10.3 Interaction of the user program with the motor controller

10.3.1 Communication options

A user program has numerous options for communicating with the motor controller:

• Reading and writing of OD values per PDO mapping• Direct reading and writing of OD values via system calls• Calling up of other system calls (e.g. write debug output)


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Via a PDO mapping, OD values in the form of variables are made available to the user program. Beforea user program receives its 1-ms time slot, the firmware transfer the values for this from the OD to thevariables of the user program. When the user program now receives computing time, it can manipulatethese variables like the usual C variables. At the end of the time slot, the new values are automaticallycopied into the respective OD entries by the firmware.

To optimize the performance, 3 types of mappings are defined: Input, output and input/output (In, Out,InOut). Input mappings can only be read and are not transferred back into the OD. Output mappingscan only be written. Input/Output Mappings, on the other hand, permit reading and writing.

The set mappings can be read out and checked via the web interface at objects 2310h, 2320h, and2330h. For each mapping, a maximum of 16 entries is allowed.

The specification of the linker section is used to control in NanoJ Easy whether a variable is stored theunder input, output, or data range.

10.3.2 Execution of a VMM cycle

In summary, the procedure for the execution of a VMM cycle with respect to the PDO mapping consistsof the following three steps:

1. Read values from the object directory and copy them into the Inputs and Outputs areas.2. Execute the user program.3. Copy values from the Outputs and Inputs areas back to the object directory.

The configuration of the copy procedures is in line with the CANopen standard.

In addition, it is also possible to access system calls via the object directory. In general, this isconsiderably slower and therefore mappings should be given preference. However, the number ofmappings is limited (16 entries each in In/Out/InOut). Therefore, it is advisable to map frequently-used and changed OD values and to access less frequently used OD entries by system call. A list ofavailable system calls can be found in the "System calls" section.

Note

It is strongly advised to access one single OD value either by mapping or system call withod_write(). If both are used at the same time, system call will not have any effect.

10.4 OD entries for controlling and configuring the VMM

10.4.1 OD entries

The VMM is controlled and configured by means of OD entries in the object range 2300h to 2330h.

OD Index Name

2300h NanoJ Control

2301h NanoJ Status

2302h NanoJ Error Code

2303h Number Of Active User Program

2304h Table of available user programs

2310h NanoJ Input Data Selection

2320h NanoJ Output Data Selection

2330h NanoJ In/output Data Selection

10.4.2 Example

To select and start the "TEST1.USR" user program, the following sequence can be used for instance:

• Rename the file "TEST1.USR" to "VMMCODE.USR".• Copy the file "VMMCODE.USR" via USB to the controller.


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• Start the vmm program with setting the object 2300h, Bit 0 to "1". or restart the controller.• Check the object 2302h if an error has occurred and check the objekts 2301h, Bit 0 to be set to

"1" (vmm is actually running).

To stop a running program: Write the bit 0-value = "0" to the entry 2300h.

10.5 NanoJ Easy V2

10.5.1 Installation and use

Introduction

As an alternative to NanoIP, a user program can also be programmed, uploaded, and controlled withthe NanoJ Easy V2 software.

Installation

Proceed as follows for installation:

1. Unpack "NanoJEasyV2.zip" into a directory of your choice.2. Launch the program with the file "NanoJEasy.exe".

10.5.2 Programming of user programs

User program structure

A user program consists of at least two instructions:

1. The #include "wrapper.h" preprocessor instruction2. The void user(){} function

The code to be executed can then be stored in the void user() function.

The file names of the user programs must not be longer than eight characters and contains threecharacters in the extension; for example, "main.cpp" is admissible while "alongerfilename.cpp" is not.

Example

Programming a square wave signal in the object 2500h:01h

1. Copy the following text to the NanoJ Easy editor and store this file under the name "main.cpp".

// file main.cpp map S32 outputReg1 as inout 0x2500:1

#include "wrapper.h"

// user program void user() { U16 counter = 0; while( 1 ) { ++counter; if( counter < 100 ) InOut.outputReg1 = 0; else if( counter < 200 ) InOut.outputReg1 = 1; else counter = 0; // yield() 5 times (delay 5ms) for(U08 i = 0; i < 5; ++i ) yield(); }


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}// eof

2. When the program has been properly translated:

Rename the output file " main.usr" to " vmmcode.usr".3. Use USB to copy the file to the motor controller (see the "USB port" section). The motor controller

must be restarted to launch the program; please read the "NanoJ program" section starting at step2 for details.

10.5.3 Structure of a mapping

Introduction

This method can be used to directly link a variable in the NanoJ program with an entry in theobject directory. The mapping must be created at the beginning of the file - before the #include"wrapper.h" instruction. Only a comment above the mapping is allowed.

TipUse mapping if you frequently need access to an object in the objectdirectory, such as the control word 6040h or status word 6041h.

The od_write() and od_read() functions are better suited forsingle access to objects (see the "Access to the object directory"section).

Declaration of the mapping

The declaration of the mapping is structured as follows:

map <TYPE> <NAME> as <input|output|inout> <INDEX>:<SUBINDEX>

The following applies:

• <TYPE>

The data type of the variable, i.e. U32, U16, U08, S32, S16 or S08.• <NAME>

The name of the variable that is later used in the user program.• <input|output|inout>

The write and read authorization of a variable: A variable can either be declared as input, output, orinout. This defines whether a variable is readable (input), writable (output) or both (inout) and thestructure by which it needs to be addressed in the program.

• <INDEX>:<SUBINDEX>

Index and subindex of the object being mapped in the object directory.

Every declared variable is addressed in the user program via one of the three structures "In", "Out",, or"InOut", depending on the defined write and read direction.

Example of a mapping

Example of a mapping and the associated variable access methods:

map U16 controlWord as output 0x6040:00map U08 statusWord as input 0x6041:00map U08 modeOfOperation as inout 0x6060:00

#include "wrapper.h"void user() { [...] Out.controlWord = 1; U08 tmpVar = In.statusword; InOut.modeOfOperation = tmpVar; [...]


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}

Potential error source

A potential source of error is a write access by means of the od_write() function on an object in theobject directory that was also created as a mapping. The code shown below is faulty:

map U16 controlWord as output 0x6040:00 #include " wrapper.h" void user() { [...] Out.controlWord = 1; [...] // the value is overwritten by the mapping od_write(0x6040, 0x00, 5 ); [...]}

The line with the command od_write(0x6040, 0x00, 5 ); is without effect. As described in theintroduction, all mappings are copied into the object directory at the end of each millisecond.

The following procedure is therefore derived:

• The function od_write writes the value "5" in object 6040h:00h.• At the end of the 1-ms cycle, the mapping is written that also specifies object 6040h:00h , though

with the value "1".• This means - from the user's perspective - the od_write command is without effect.

10.6 System calls

10.6.1 Introduction

With system calls, it is possible to call up functions integrated in the firmware directly in a userprogram. Because a direct code execution is only possible in the protected area of the sandbox, thisis implemented via so-called Cortex-Supervisor-Calls (Svc Calls). An interrupt is triggered when thefunction is called and the firmware thus has the possibility of temporarily allowing a code executionoutside of the sandbox. Developers of user programs do not need to worry about this mechanism.For them, the system calls can be called up like normal C functions. Only the "wrapper.h" file must beintegrated as usual.

10.6.2 Access to the object directory

• void od_write(U32 index, U32 subindex, U32 value)

This function writes the transferred value to the specified point in the object directory.

index Index of the object being written in the object directory

subindex Subindex of the object being written in the object directory

value Value to be written

Note

It is strongly advised, to generate processor time with yield() after a od_write() has beencalled up. The value is immediately written to the OD. However, to enable the firmware to triggerdependent actions, it must receive computing time and therefore the user program must havebeen ended or stopped with yield().

• void od_read(U32 index, U32 subindex)

This function reads the value at the specified point in the object directory and returns it.


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index Index of the object being read in the object directory

subindex Subindex of the object being read in the object directory

Return value Content of the OD entry

Note

Active waiting for a value in the object directory should always be associated with a yield().

Example:

while (od_read(2400,2) != 0) // wait until 2400:2 is set yield();

10.6.3 Process control

• void yield()

This function returns the process time to the operating system. The program is resumed in the nexttime slot at the same location.

• void sleep(U32 ms)

This function returns the process time to the operating system for the specified number ofmilliseconds. The user program is then continued at the location following the call.

ms Wait time in milliseconds

10.6.4 Debug output

The following functions output a value in the debug console. They differ only in the data type of theparameter being output.

• bool VmmDebugOutputString(const char *outstring)• bool VmmDebugOutputInt(const U32 val)• bool VmmDebugOutputByte(const U08 val)• bool VmmDebugOutputHalfWord(const U16 val)• bool VmmDebugOutputWord(const U32 val)• bool VmmDebugOutputFloat(const Woat val)

Note

The debug outputs are first written to a separate area of the OD and are read out from there by theweb interface. This OD entry has the index 2600h and is 64 characters long. The subindex 0 alwayscontains the number of characters already written.

If the buffer is full, VmmDebugOutputxxx() initially fails; execution of the user program is discontinuedand it stops at the location of the debug output. The program is not resumed until the web interface hasread out the buffer and reset the subindex 0; VmmDebugOutputxxx() returns to the user program.

Debug outputs therefore may only be used during the test phase in the development of a userprogram.

Manual PD4-C (USB)11 Object directory description

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11 Object directory description

11.1 Overview

You can find a description of objects in this section of the manual.

Here you will find information on the following:

• Functions• Object descriptions ("Index")• Value descriptions ("Subindices")• Descriptions of bits• Description of the object

11.2 Structure of the object description

The description of object entries is always structured the same and normally consists of the followingsections:

FunctionThis section briefly describes the function of the object directory.

Object descriptionThis table gives detailed information on the data type, specified values, and suchlike. A detaileddescription can be found in the "Object description" section.

Value descriptionThis table is only available for the "Array" or "Record" data type and gives detailed informationon the subentries. A more detailed description of entries can be found in the "Valuedescription" section.

DescriptionMore precise information on the single bits in an entry is given here or any compositions areexplained. A detailed description can be found in the "Description" section.

11.3 Object description

The object description consists of a table that contains the following entries:

IndexDesignates the index of the object in hexadecimal notation.

Object NameThe name of the object.

Object CodeThe type of object. This can be one of the following entries:

• VARIABLE: In this case the object consists of only one variable that is indexed with subindex0.

• ARRAY: This objects always consist of one subindex 0 – which specifies the quantity of validsubentries – and the subentries themselves from index 1. The data type in an array neverchanges, which means that subentry 1 and all following entries always have the same datatype.

• RECORD: These objects always consist of one subentry with subindex 0 – which specifiesthe quantity of valid subentries – and the subentries themselves from index 1. As opposed to


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an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 mayhave a different data type than subentry 2.

• VISIBLE_STRING: The object specifies a character string encoded in ASCII. Thesecharacter strings are not terminated by a zero string.

Data typeThe size and interpretation of the object are specified here. The following notation applies forthe "VARIABLE" object code:

• Distinction is drawn between entries that are signed; this is designated with the prefix"SIGNED". The prefix "UNSIGNED" is used for unsigned entries.

• The size of the variable in bits is added to the prefix and can be either 8, 16 or 32.

SavableDesignates if a object can be saved and - if so - in which category

Firmware VersionThe firmware version of the first occurence of the object is entered here.

Change history (ChangeLog)Any changes to the object are noted here.

Additionally, there are the following table entries for the "VARIABLE" data type:

AccessThe access restriction is entered here. The following restrictions are available:

• "Read/write": The object can be read and written• "Read only": The object can only be read from the object directory. It is not possible to set a

value.

PDO MappingSome bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entryspecifies whether the object may be inserted in a mapping, and in which. The followingdesignations are possible:

• "no": The object may not be entered in any mapping.• "TX-PDO": The object may in be entered in a RX mapping.• "RX-PDO": The object may in be entered in a TX mapping.

Admissible ValuesIn some cases, it is only permitted to write specific values into the object. When this is the case,these values are listed here. The field remains empty when there is no restriction.

Specified ValueSome objects must be preassigned with values to bring the motor controller into a safe stateat switch on. The value written into the object for the motor controller start is noted in this tableentry.

11.4 Value description

Note

For reasons of clarity, some subentries have been summarized here when all the entries have thesame name.


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All data for subentries with subindex 1 or higher are listed in the table with the heading "Valuedescription". The table contains the following entries:

SubindexNumber of the currently specified subentry.

NameThe name of the subentry.

Data typeThe size and interpretation of the subentry are specified here. The following notation alwaysapplies:

• Distinction is drawn between entries that are signed; this is designated with the prefix"SIGNED". The prefix "UNSIGNED" is used for unsigned entries.

• The size of the variable in bits is added to the prefix and can be either 8, 16 or 32.

AccessThe access restriction for the subentry is entered here. The following restrictions are available:

• "Read/write": The object can be read and written• "Read only": The object can only be read from the object directory. It is not possible to set a

value.

PDO MappingSome bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entryspecifies whether the subentry may be inserted in a mapping, and in which. The followingdesignations are possible:

• "no": The object may not be entered in any mapping.• "TX-PDO": The object may in be entered in a RX mapping.• "RX-PDO": The object may in be entered in a TX mapping.

Admissible ValuesIn some cases, it is only permitted to write specific values into the subentry. When this is thecase, these values are listed here. The field remains empty when there is no restriction.

Specified ValueSome objects must be preassigned with subentries to bring the motor controller into a safe stateat switch on. The value written into the subentry for the motor controller start is noted in thistable entry.

11.5 Description

This section can be available when use requires additional information. When single bits of an object orsubentry have a different meaning, diagrams are used as shown in the following example.

Example: The object is 8-bits large, bit 0 and 1 separately have one function. Bits 2 and 3 have beencombined into one function, the same apples for bits 4 to 7.

Example [4]

7 6 5 4 3 2 1 0

Example [2] B A

Example [4]Description of bits 4 to including 7, these bits logically belong together. The 4 in square bracketsspecifies the number of associated bits. A list of possible values and their description isfrequently attached at this position.


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Example [2]Description of bits 3 and 2, these bits logically belong together. The 2 in square bracketsspecifies the number of associated bits.

• Value 00b: The description at this position applies when bit 2 and bit 3 are at "0".• Value 01b: The description at this position applies when bit 2 is at "0" and bit 3 at "1".• Value 10b: The description at this position applies when bit 2 is at "1" and bit 3 at "0".• Value 11b: The description at this position applies when bit 2 and bit 3 are at "1".

BDescription of bit B, there is no length information for a single bit.

ADescription of bit A, bits with a gray background remain unused.

1000h Device Type

Function

Describes the motor controller type.

Object description

Index 1000h

Object Name Device Type

Object Code VARIABLE

Data type UNSIGNED32

Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00040192h

Firmware Version FIR-v1426

Change History

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Motor Type[16]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Device profile number[16]

Motor Type[16]Describes the supported motor type.

Device profile number[16]

Describes the supported CANopen standard.

Values:

0129h (specified value): The DS402 standard is supported.


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1001h Error Register

Function

Error register: In the event of an error, the corresponding error bit is set. It is automatically deletedwhen the error no longer exists.

Object description

Index 1001h

Object Name Error Register


Data type UNSIGNED8

Savable No

Access Read only

PDO Mapping TX - PDO

Admissible Values

Specified Value 00h


Change History

Description

PROF

7 6 5 4 3 2 1 0

COMRES RES CUR GENTEMP VOL

GENGeneral error

CURCurrent

VOLVoltage

TEMPTemperature

COMCommunication

PROFPertains to the device profile

RESReserved, always "0"

1003h Pre-defined Error Field

Function

This object contains an error stack with up to eight entries.


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Object description

Index 1003h

Object Name Pre-defined Error Field

Object Code ARRAY


Savable No


Change History Amount of subentries has changed from 2 to 9

Value description

Subindex 00h

Name Number Of Errors

Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 01h

Name Standard Error Field


Access Read only

PDO Mapping No

Admissible Values


Subindex 02h



Access Read only

PDO Mapping No

Admissible Values


Subindex 03h



Access Read only

PDO Mapping No

Admissible Values


Subindex 04h



Access Read only

PDO Mapping No


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Admissible Values


Subindex 05h



Access Read only

PDO Mapping No

Admissible Values


Subindex 06h



Access Read only

PDO Mapping No

Admissible Values


Subindex 07h



Access Read only

PDO Mapping No

Admissible Values


Subindex 08h



Access Read only

PDO Mapping No

Admissible Values


Description

General operation

If a new error occurs, it is entered in subindex 1. The existing entries in the subindices 1 to 7 are shiftedback by one. The error at subindex 7 is removed.

The number of errors that have occurred can be read from the object with subindex 0. When a "0" iswritten into this object, counting starts anew.

Bit description

Error Class[8]

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Error Number [8]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Error Code[16]


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Error Number [8]

This allows the reason for the error to be fully narrowed down. The meaning of the number canbe found in the following table.

Error number Description

1 Input voltage too high

2 Output current too high

3 Input voltage too low

4 Field bus error

5 Motor rotating in wrong direction – despite activated block

6 CANopen only: NMT master is taking too long to send Nodeguardingrequest

7 Encoder error due to electrical fault or faulty hardware

8 Encoder error; index not found during auto setup

9 Error in AB track

10 Positive limit switch and tolerance zone overwritten

11 Negative limit switch and tolerance zone overwritten

12 Device temperature above 80 °C

13 The values of object 6065h(Following Error Window) and object6066h(Following Error Time Out) have been exceeded, and a fault hasbeen output. This fault must be activated with bit 7 in object 3202h.

14 Non-volatile storage full, restart of controller for cleanup necessary

15 Motor blocked

16 Non-volatile storage corruped, restart of controller for cleanup necessary

17 Slave needed too much time for sending PDO-tickets

18 Hall Sensor faulty

Error Class[8]

This byte is identical to object 1001h

Error Code[16]

The meaning of the two bytes can be seen in the following table.

Error Code Description

1000h General error

2300h Current at output of motor controller too high

3100h Overvoltage/undervoltage at motor controller input

3100h Undervoltage at input of motor controller

4200h Temperature error in motor controller

7121 Motor blocked

7305h Incremental or hall sensor faulty

7600h Flash storage full or corrupted

8000h Field bus error

8130h Only CANopen: Life guard error or heartbeat - error

8200h Slave needed too much time for sending a pdo message

8611h Position monitoring error: following error

8612h Position monitoring error: Reference limit hit and entered forbidden area


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1008h Manufacturer Device Name

Function

Contains the device name as a string.

Object description

Index 1008h

Object Name Manufacturer Device Name


Data type VISIBLE_STRING

Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value


Change History

Description

The length of the string appears in subindex 0 of this object. The individual characters are contained asof subindex 1. The character string is not terminated by a zero string.

1009h Manufacturer Hardware Version

Function

This object contains the hardware version as a string.

Object description

Index 1009h

Object Name Manufacturer Hardware Version



Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value


Change History

Description



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100Ah Manufacturer Software Version

Function

This object contains the software version as a string.

Object description

Index 100Ah

Object Name Manufacturer Software Version



Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value FIR-v1504-B92112


Change History

Description


1010h Store Parameters

Function

This object has no significance at this motor controller.

Object description

Index 1010h

Object Name Store Parameters

Object Code ARRAY


Savable No


Change History Firmware Version FIR-v1436: Entry "Object Name" modified from"Store Parameter" to "Store Parameters".

Firmware Version FIR-v1436: Amount of subentries has changed from3 to 4.

Value description

Subindex 00h

Name Highest Sub-index Supported

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values


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Specified Value 03h

Subindex 01h

Name Save All The Parameters To Non-volatile Memory


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Save The Comm Parameters To Non-volatile Memory


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Save The Application Parameters To Non-volatile Memory


Access Read/write

PDO Mapping No

Admissible Values


1011h Restore Default Parameters

Function

This object can be used to reset the entire object directory to the default values.

Object description

Index 1011h

Object Name Restore Default Parameters

Object Code ARRAY


Savable No


Change History Firmware Version FIR-v1436: Entry "Object Name" modified from"Restore Default Parameter" to "Restore Default Parameters".

Firmware Version FIR-v1436: Amount of subentries has changed from2 to 4.

Value description

Subindex 00h


Data type UNSIGNED8


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Access Read only

PDO Mapping No

Admissible Values

Specified Value 03h

Subindex 01h

Name Restore All Default Parameters


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Restore The Comm Default Parameters


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Restore The Application Default Parameters


Access Read/write

PDO Mapping No

Admissible Values


1018h Identity Object

Function

The object contains information on the manufacturer, the product code and the revision and serialnumbers.

Object description

Index 1018h

Object Name Identity Object

Object Code RECORD

Data type IDENTITY

Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8


Version 1.2.0 / 11.03.2015 / FIR-v1504 81

Access Read only

PDO Mapping No

Admissible Values

Specified Value 04h

Subindex 01h

Name Vendor-ID


Access Read only

PDO Mapping No

Admissible Values

Specified Value 0000026Ch

Subindex 02h

Name Product Code


Access Read only

PDO Mapping No

Admissible Values


Subindex 03h

Name Revision Number


Access Read only

PDO Mapping No

Admissible Values


Subindex 04h

Name Serial Number


Access Read only

PDO Mapping No

Admissible Values


2030h Pole Pair Count

Function

Contains the pole pair count of the connected motor.

Object description

Index 2030h

Object Name Pole Pair Count



Savable No


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Access Read/write

PDO Mapping No

Admissible Values



Change History Version FIR-v1422-B36464: Name entry changed from "Pole paircount" to "Pole Pair Count"

2031h Peak Current

Function

Specifies the maximum current in mA.

Object description

Index 2031h

Object Name Peak Current



Savable yes, category: application

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 000009C4h


Change History

2032h Maximum Speed

Function

Specifies the maximum admissible speed of the v-control in revolutions/s or rpm.

Object description

Index 2032h

Object Name Maximum Speed




Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00030D40h


Change History

Description

The conversion is based on the numerator and denominator specified in object 604Ch.


Version 1.2.0 / 11.03.2015 / FIR-v1504 83

2033h Plunger Block

Function

Specifies the maximum positional change in user units (corresponding to Target Position 607Ah) that ispermitted in the corresponding direction.

Object description

Index 2033h

Object Name Plunger Block


Data type INTEGER32


Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

This is used to implement an electronic lock.

The value 0 switches the monitoring of.

For example, the value 100 means that the drive may move in the negative direction by any distance,but as soon as it moves in the positive direction by more than 100 steps the motor is stoppedimmediately and an error is output.

For example, when winding up threads, this can be used to prevent an accidental unwinding ofthreads.

2034h Upper Voltage Warning Level

Function

This object holds the threshold level for the "Overvoltage" error in millivolts.

Object description

Index 2034h

Object Name Upper Voltage Warning Level




Access Read/write

PDO Mapping No

Admissible Values

Specified Value 0000C92Ch


Change History


Version 1.2.0 / 11.03.2015 / FIR-v1504 84

Description

If the input voltage of the motor controller rises above this threshold value, the motor is switched offand an error is output. This error is automatically reset when the input voltage is less than (voltage ofthe object 2036h minus 2 volts).

2035h Lower Voltage Warning Level

Function

This object holds the threshold level for the "Undervoltage" error in millivolts.

Object description

Index 2035h

Object Name Lower Voltage Warning Level




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

If the input voltage of the motor controller drops below this threshold value, the motor is switched offand an error is output. This error is automatically reset when the input voltage is greater than (voltageof the object 2035h plus 2 volts).

2036h Open Loop Current Reduction Idle Time

Function

This object specifies the time in milliseconds for which the motor must be idling before the currentreduction is activated.

Object description

Index 2036h

Object Name Open Loop Current Reduction Idle Time




Access Read/write

PDO Mapping No

Admissible Values

Specified Value 000003E8h


Change History


Version 1.2.0 / 11.03.2015 / FIR-v1504 85

2037h Open Loop Current Reduction Value/factor

Function

This object specifies the value to which the current must be reduced when current reduction isactivated in open loop.

Object description

Index 2037h

Object Name Open Loop Current Reduction Value/factor


Data type INTEGER32


Access Read/write

PDO Mapping No

Admissible Values

Specified Value FFFFFFCEh


Change History

Description

If the value is negative between "-100" and "-1", this is interpreted as the percentage reduction factorrelative to the maximum current ( 2031h). The value "-100" corresponds to 100% of the value in object2031h, and the value "-50" is interpreted as 50% of the value in object 2031h, etc.

If the value is positive, the current is reduced to the value in mA entered in object 2037h.

2039h Motor Currents

Function

This object contains the measured motor currents in mA.

Object description

Index 2039h

Object Name Motor Currents

Object Code ARRAY

Data type INTEGER32

Savable No


Change History Firmware Version FIR-v1504: Table entry "PDO Mapping" at subindex01 modified from "No" to "TX - PDO".

Firmware Version FIR-v1504: Table entry "PDO Mapping" at subindex02 modified from "No" to "TX - PDO".




Version 1.2.0 / 11.03.2015 / FIR-v1504 86

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 04h

Subindex 01h

Name I_d

Data type INTEGER32

Access Read only


Admissible Values


Subindex 02h

Name I_q

Data type INTEGER32

Access Read only


Admissible Values


Subindex 03h

Name I_a

Data type INTEGER32

Access Read only


Admissible Values


Subindex 04h

Name I_b

Data type INTEGER32

Access Read only


Admissible Values


203Ah Homing On Block Configuration

Function

This object contains the parameters for homing on block (see the " Homing" section).

Object description

Index 203Ah


Version 1.2.0 / 11.03.2015 / FIR-v1504 87

Object Name Homing On Block Configuration

Object Code ARRAY


Savable No

Access

PDO Mapping

Admissible Values

Specified Value



Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 03h

Subindex 01h

Name Minimum Current For Block Detection


Access Read/write

PDO Mapping No

Admissible Values

Specified Value 000004ECh

Subindex 02h

Name Period Of Blocking


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Block Detection Time


Access Read/write

PDO Mapping No

Admissible Values


Description

The subentries have the following function:

• 01h: Specifies the current limit value from which blocking is to be detected.


Version 1.2.0 / 11.03.2015 / FIR-v1504 88

• 02h: Specifies the time in ms that the motor is nevertheless still to travel against the block after blockdetection.

• 03h: Specifies the time in ms that the current has to be at least above the minimum currentthreshold in order to detect a block.

203Bh I2t Parameters

Function

This object contains the parameters for the I 2t monitoring.

The I 2t monitoring is activated when a value greater than 0 is entered in 203Bh:02h (see " I2t motoroverload protection ").

I 2t can only be use for closed loop mode with a single exception: If I 2t is activated in open loop mode,the current is limited to the set nominal current even when the set maximum current is greater. Thisfeature was implemented for safety reasons, so that it is also possible to switch out of closed loopmode and into open loop mode with a very high short-time maximum current without damaging themotor.

Object description

Index 203Bh

Object Name I2t Parameters

Object Code ARRAY


Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 06h

Subindex 01h

Name Nominal Current


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Maximum Duration Of Peak Current


Access Read/write

PDO Mapping No

Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 89


Subindex 03h

Name Threshold


Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name CalcValue


Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h

Name LimitedCurrent


Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h

Name Status


Access Read/write

PDO Mapping No

Admissible Values


Description


• 01h: Specifies the nominal current in mA, must be smaller than the maximum current 2031h,otherwise monitoring will not be activated.

• 02h: Specifies the maximum time period of the peak current in ms.• 03h: Threshold, specifies the limit in mA, from which is determined whether switching is to the

maximum current or nominal current.• 04h: CalcValue, specifies the calculated value that is compared to the threshold in order to set the

current.• 05h: LimitedCurrent, shows the actual current value that was set by I 2t.• 06h: Actual status. If the subentry value is "0", I 2t is deactivated; if the value is "1", I 2t is activated


Version 1.2.0 / 11.03.2015 / FIR-v1504 90

2050h Encoder Alignment

Function

This value specifies the angle offset between the rotor and the electrical field.

Object description

Index 2050h

Object Name Encoder Alignment


Data type INTEGER32

Savable No

Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

The exact determination is only possible via the auto setup. The presence of this value is required forclosed loop mode.

2051h Encoder Optimization

Function

Contains compensation values to attain better concentricity in closed loop mode.

Object description

Index 2051h

Object Name Encoder Optimization

Object Code ARRAY

Data type INTEGER32

Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 03h

Subindex 01h

Name Parameter 1


Version 1.2.0 / 11.03.2015 / FIR-v1504 91

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Parameter 2

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Parameter 3

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Description

The exact determination is only possible via the auto setup.

2052h Encoder Resolution

Function

Contains the resolution of the encoder that is used for electrical commutation.

Object description

Index 2052h

Object Name Encoder Resolution


Data type INTEGER32

Savable No

Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

A negative value means that the encoder is operated in the opposite direction to the motor. This can becorrected by changing the poles of the motor winding.


Version 1.2.0 / 11.03.2015 / FIR-v1504 92

2053h Index Polarity

Function

Specifies the index polarity.

Object description

Index 2053h

Object Name Index Polarity


Data type UNSIGNED8

Savable No

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h


Change History

Description

The value 0 means that the index is not inverted.

The value 1 means that the index is connected inverted and is inverted in the firmware.

2054h Index Width

Function

Specifies the index width in an internal operand.

Object description

Index 2054h

Object Name Index Width


Data type INTEGER32

Savable No

Access Read/write


Admissible Values

Specified Value FFFFFFFFh


Change History

Description

If this value is not equal to 0, the encoder is monitored for errors.

The value -1 ( FFFFFFFFh) deactivates encoder monitoring.


Version 1.2.0 / 11.03.2015 / FIR-v1504 93

2056h Limit Switch Tolerance Band

Function

Specifies how far positive or negative limit switches may be overrun before the motor controller issuesan error.

This tolerance range is required, for example, to be able to complete reference runs - in which limitswitches can be activated - error-free.

Object description

Index 2056h

Object Name Limit Switch Tolerance Band




Access Read/write


Admissible Values

Specified Value 000001F4h


Change History

2057h Clock Direction Multiplier

Function

The clock counting value in the clock/direction mode is multiplied by this value before it is processedfurther.

Object description

Index 2057h

Object Name Clock Direction Multiplier


Data type INTEGER32


Access Read/write

PDO Mapping No

Admissible Values



Change History

2058h Clock Direction Divider

Function

The clock counting value in the clock/direction mode is divided by this value before it is processedfurther.


Version 1.2.0 / 11.03.2015 / FIR-v1504 94

Object description

Index 2058h

Object Name Clock Direction Divider


Data type INTEGER32


Access Read/write

PDO Mapping No

Admissible Values



Change History

2059h Encoder Configuration

Function

This object specifies the supply voltage of the encoder.

Object description

Index 2059h

Object Name Encoder Configuration




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

TYPE

VOLTSetting this bit to the value "0" the supply voltage of the encoder is set to 5V. Setting this bit tothe value "1" the supply voltage of the encoder is set to 24V.

TYPEDefines the type of the encoder. This bit has to be set to the value "0" if a differential encoder isused. For a single ended encoder, the bit has to be set to the value "1".


Version 1.2.0 / 11.03.2015 / FIR-v1504 95

205Ah Encoder Boot Value

Function

This object has only a functional purpose, if an absolute encoder is used: From this object, the encoderposition (in user units) can be read, which was read from the absolute encoder initially at power up ofthe controller. This object is always 0 if no absolute encoder is used.

Object description

Index 205Ah

Object Name Encoder Boot Value



Savable No

Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

205Bh Clock Direction Or Clockwise/Counter Clockwise Mode

Function

With this object the clock/direction-mode (value = "0") can be switched to clockwise/counterclockwisemode (value = "1").

Object description

Index 205Bh

Object Name Clock Direction Or Clockwise/Counter Clockwise Mode




Access Read/write

PDO Mapping No

Admissible Values



Change History

2060h Compensate Polepair Count

Function

Makes it possible to order motor-independent motion blocks.


Version 1.2.0 / 11.03.2015 / FIR-v1504 96

Object description

Index 2060h

Object Name Compensate Polepair Count




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

If this entry is set to 1, the pole pair count is automatically set for all position, speed, acceleration, andjerk parameters.

If the value is 0, the pole pair count enters into the set values and must be taken into account when themotor is changed, as is the case with conventional stepper motor controllers.

2061h Velocity Numerator

Function

Contains the numerator that is used to convert the speed specifications in profile position mode.

Object description

Index 2061h

Object Name Velocity Numerator




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

The internal operand pertains to full mechanical ( 2060h=1) or electrical ( 2060h=0) revolutions persecond.

Thus, by setting object 2061h=1 and object 2062h=60, for example, the speed can be specified in rpmin profile position mode.

2062h Velocity Denominator

Function

Contains the denominator that is used to convert the speed specifications in profile position mode.


Version 1.2.0 / 11.03.2015 / FIR-v1504 97

Object description

Index 2062h

Object Name Velocity Denominator




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description


Thus, by setting object 2061h=1 and object 2062h=60, for example, the speed can be specified in rpmin profile position mode.

2063h Acceleration Numerator

Function

Contains the numerator that is used to convert the acceleration specifications in profile position mode.

Object description

Index 2063h

Object Name Acceleration Numerator




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description


Thus, by setting object 2063h=1 and object 2064h=60, for example, the acceleration can be specified in(revolutions/min)/s 2in profile position mode.


Version 1.2.0 / 11.03.2015 / FIR-v1504 98

2064h Acceleration Denominator

Function

Contains the denominator that is used to convert the acceleration specifications in profile positionmode.

Object description

Index 2064h

Object Name Acceleration Denominator




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description


Thus, by setting object 2063h=1 and object 2064h=60, for example, the acceleration can be specified in(revolutions/min)/s 2 in profile position mode.

2065h Jerk Numerator

Function

Contains the numerator that is used to convert the jerk specifications in profile position mode.

Object description

Index 2065h

Object Name Jerk Numerator




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

The internal operand pertains to full mechanical ( 2060h=1) or electrical ( 2060h=0) revolutions persecond to the power of 3.


Version 1.2.0 / 11.03.2015 / FIR-v1504 99

Thus, by setting object 2065h=1 and object 2066h=60, for example, the jerk can be specified in(revolutions/min)/s 2 in profile position mode.

2066h Jerk Denominator

Function

Contains the denominator that is used to convert the jerk specifications in profile position mode.

Object description

Index 2066h

Object Name Jerk Denominator




Access Read/write

PDO Mapping No

Admissible Values



Change History

Description


Thus, by setting object 2065h=1 and object 2066h=60, for example, the acceleration can be specified in(revolutions/min)/s 2 in profile position mode.

2067h Jerk Limit (internal)

Function

This object contains parts of the calculation for the real jerk limit, this limit is deactivated if this object isset to the value "0".

The following formula describes the calculation of the real jerk limit:

Jerk Limit Real = Jerk limit internal (2067h) x Jerk denominator (2066h)

2048 x Jerk numerator (2065h) x Pole Pair Count (2030h)

Object description

Index 2067h

Object Name Jerk Limit (internal)




Access Read/write

PDO Mapping No

Admissible Values




Version 1.2.0 / 11.03.2015 / FIR-v1504 100

Change History

2084h Bootup Delay

Function

This object allows specification of the time period between when the supply voltage is applied to themotor controller and the provision of operability of the motor controller in milliseconds.

Object description

Index 2084h

Object Name Bootup Delay




Access Read/write

PDO Mapping No

Admissible Values



Change History

2101h Fieldbus Module

Function

Shows the type of mounted field bus module.

Object description

Index 2101h

Object Name Fieldbus Module



Savable No

Access Read only

PDO Mapping No

Admissible Values



Change History Firmware Version FIR-v1426: Entry "Data Type" modified from"INTEGER32" to "UNSIGNED32"

Description

The bits 0 to 15 are representing the physical interface, the bits 16 to 31 the used protocoll (ifnecessary).


Version 1.2.0 / 11.03.2015 / FIR-v1504 101

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

CAN ECATRS485

USBValue = "1": An USB interface is available.

RS-485Value = "1": A RS-485 interface is available.

RS-232Value = "1": A RS-232 interface is available.

CANValue = "1": A CANopen interface is available.

E-NETValue = "1": An EtherNET interface is available.

E-CATValue = "1": An EtherCAT interface is available.

SPIValue = "1": A SPI interface is available.

MRTUValue = "1": The protocol used is Modbus RTU.

TCPValue = "1": The protocol used is TCP/IP

2200h Sampler Control

Function

Controls the installed sampler used to cyclically record any values from the "Dictionary" object.

Object description

Index 2200h

Object Name Sampler Control



Savable No

Access Read/write

PDO Mapping RX - PDO

Admissible Values



Change History


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Description

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15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

ON

ONValue = "1": The sampler will be activated

2201h Sampler Status

Function

Shows the operating state of the installed sampler.

Object description

Index 2201h

Object Name Sampler Status



Savable No

Access Read only


Admissible Values



Change History

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

OVER ACT

ACTValue = "1": The sampler is active and is recording data.

OVERValue = "1": The recording buffer has not been read out fast enough and data have been lost.The sampler has therefore been stopped and must be restarted by a rising flank in object 2200hbit 0.

2202h Sample Data Selection

Function

The data collected jointly per scan can be controlled here. In the current firmware, the sample buffersize is 12,000 bytes.


Version 1.2.0 / 11.03.2015 / FIR-v1504 103

Object description

Index 2202h

Object Name Sample Data Selection

Object Code RECORD

Data type PDO_MAPPING

Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Sample Value #1


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h



Access Read/write

PDO Mapping No

Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 104


Subindex 05h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 07h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 08h



Access Read/write

PDO Mapping No

Admissible Values


Description

Each subindex (1-8) describes a mapped object.

A mapping entry consists of four bytes made up according to the following graphic.

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Index [16]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Subindex [8] Length [8]

Index [16]Contains the index of the object to be mapped

Subindex [8]Contains the subindex of the object to be mapped


Version 1.2.0 / 11.03.2015 / FIR-v1504 105

Length [8]Contains the length of the object to be mapped in the bit unit.

2203h Sampler Buffer Information

Function

This object makes additional information available to the sampler.

Object description

Index 2203h

Object Name Sampler Buffer Information

Object Code ARRAY


Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 03h

Subindex 01h

Name Sample Buffer Size


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Sample Buffer Watermark


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Sample Tick


Access Read/write

PDO Mapping No


Version 1.2.0 / 11.03.2015 / FIR-v1504 106

Admissible Values


Description

The subindices have the following functions:

• 01h specifies the maximum size of the sampler buffer in bytes.• 02h contains the momentary filling level of the sampler buffer in bytes.• 03h contains a numerator that is incremented with each scan.

2204h Sample Time In Ms

Function

This object contains the scan interval of the sampler in milliseconds.

Object description

Index 2204h

Object Name Sample Time In Ms



Savable No

Access Read/write


Admissible Values



Change History

2300h NanoJ Control

Function

Controls the execution of a user program.

Object description

Index 2300h

Object Name NanoJ Control




Access Read/write


Admissible Values



Change History Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Control" to "NanoJ Control".


Version 1.2.0 / 11.03.2015 / FIR-v1504 107

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

ONTIM

ON

Switches the VMM on (value = "1") or off (value = "0").

When there is a rising flank in bit 0, the program is first reloaded and the variable range is reset.

TIM

Switches the timing control off (value = "1") or on (value = "0").

2301h NanoJ Status

Function

Shows the operating state of the user program.

Object description

Index 2301h

Object Name NanoJ Status



Savable No

Access Read only


Admissible Values



Change History Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Status" to "NanoJ Status".

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Status [3]

Status [3]Specifies the actual status of the VMM.

• Value = "0": Program has been stopped• Value = "1": Program is running• Value = "4": Program was closed with an error. The cause of the error can be read out in

object 2302h.


Version 1.2.0 / 11.03.2015 / FIR-v1504 108

2302h NanoJ Error Code

Function

Indicates which error occurred when the user program was executed.

Object description

Index 2302h

Object Name NanoJ Error Code



Savable No

Access Read only


Admissible Values



Change History Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Error Code" to "NanoJ Error Code".

Description

Error codes during program execution:

Number Description

0x0000 No error

0x0001 Invalid service call (Cortex Svc)

0x0002 Memory protection violation (Cortex MPU Fault)

0x0003 Invalid Usage (Cortex error, for example due to an assembler command that isnot admissible in the user mode)

0x0004 Hard fault (Cortex error)

0x0005 Timeout of 1-ms cycle

0x0006 Bus fault (Cortex error)

0x0007 Invalid stackpointer

0x0100 Bad program file

File system error codes when loading the user program:

Number Description

0x10000 Access to an object that doesn't exist in object dictionary

0x10001 Write access to a read only (write protected) object

0x10002 Internal file system fault

0x10003 Storage medium not ready

0x10004 File not found

0x10005 Directory not found

0x10006 Invalid file name/directory name

0x10008 Access to file not possible

0x10009 Invalid file/directory object

0x1000A Storage medium is write protected


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Number Description

0x1000B Invalid drive number

0x1000C Working range of drive is invalid

0x1000D No valid file system on drive

0x1000E Creation of the file system has failed

0x1000F Access not possible within required time

0x10010 Access was rejected

2303h Number Of Active User Program

Function

This object has to hold the value 0xAA for this controller und musn't be modified.

Object description

Index 2303h

Object Name Number Of Active User Program


Data type UNSIGNED8


Access Read/write


Admissible Values

Specified Value 00h


Change History

2304h Table Of Available User Programs

Function

The file names of the available user programs are stored here.

Object description

Index 2304h

Object Name Table Of Available User Programs

Object Code ARRAY




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No


Version 1.2.0 / 11.03.2015 / FIR-v1504 110

Admissible Values

Specified Value 08h

Subindex 01h

Name Name Of User Program 1 UB


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Name Of User Program 1 LB


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h



Access Read/write

PDO Mapping No

Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 111


Subindex 07h



Access Read/write

PDO Mapping No

Admissible Values


Subindex 08h



Access Read/write

PDO Mapping No

Admissible Values


Description

For each user program, the name of the user program is contained in two consecutive subindices inASCII code.

Program 1: subindices 1 and 2




Example: Program 1 with the name test.usr is coded as follows:

t = 74h

e = 65h

s = 73h

Thus the two entries in subindices 1 and 2 are:

74657374h, 00000000h

For each user program, the name of the user program is contained in two consecutive subindices inASCII code. The subindex with the designation UB (Upper Byte) contains the first four letters of thename, the subindex with LB (Lower Byte) the last four letters. Should the name have less than eightletters, the missing letters must be filled with zeros.

230Fh Uptime Seconds

Function

This object contains the power-on hours since the last power-on in seconds.

Hinweis

This object won't get saved, the counting will start with "0" after power-on.

Object description

Index 230Fh


Version 1.2.0 / 11.03.2015 / FIR-v1504 112

Object Name Uptime Seconds



Savable No

Access Read only


Admissible Values



Change History

2310h NanoJ Input Data Selection

Function

Specifies the object dictionary entries that are copied into the input PDO mapping of the VMM program.

Object description

Index 2310h

Object Name NanoJ Input Data Selection

Object Code RECORD





Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Input Data Selection" to "NanoJ Input Data Selection".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 01h

Name Mapping #1


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Mapping #2



Version 1.2.0 / 11.03.2015 / FIR-v1504 113

Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Mapping #3


Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name Mapping #4


Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h

Name Mapping #5


Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h

Name Mapping #6


Access Read/write

PDO Mapping No

Admissible Values


Subindex 07h

Name Mapping #7


Access Read/write

PDO Mapping No

Admissible Values


Subindex 08h

Name Mapping #8


Access Read/write


Version 1.2.0 / 11.03.2015 / FIR-v1504 114

PDO Mapping No

Admissible Values


Subindex 09h

Name Mapping #9


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ah

Name Mapping #10


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Bh

Name Mapping #11


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ch

Name Mapping #12


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Dh

Name Mapping #13


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Eh

Name Mapping #14


Access Read/write

PDO Mapping No


Version 1.2.0 / 11.03.2015 / FIR-v1504 115

Admissible Values


Subindex 0Fh

Name Mapping #15


Access Read/write

PDO Mapping No

Admissible Values


Subindex 10h

Name Mapping #16


Access Read/write

PDO Mapping No

Admissible Values


Description



31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Index [16]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0





2320h NanoJ Output Data Selection

Function

Specifies the object dictionary entries that are copied into the output PDO mapping of the VMMprogram after it has been executed.

Object description

Index 2320h

Object Name NanoJ Output Data Selection

Object Code RECORD




Version 1.2.0 / 11.03.2015 / FIR-v1504 116



Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Output Data Selection" to "NanoJ Output Data Selection".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 01h

Name Mapping #1


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Mapping #2


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Mapping #3


Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name Mapping #4


Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h

Name Mapping #5


Version 1.2.0 / 11.03.2015 / FIR-v1504 117


Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h

Name Mapping #6


Access Read/write

PDO Mapping No

Admissible Values


Subindex 07h

Name Mapping #7


Access Read/write

PDO Mapping No

Admissible Values


Subindex 08h

Name Mapping #8


Access Read/write

PDO Mapping No

Admissible Values


Subindex 09h

Name Mapping #9


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ah

Name Mapping #10


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Bh

Name Mapping #11



Version 1.2.0 / 11.03.2015 / FIR-v1504 118

Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ch

Name Mapping #12


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Dh

Name Mapping #13


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Eh

Name Mapping #14


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Fh

Name Mapping #15


Access Read/write

PDO Mapping No

Admissible Values


Subindex 10h

Name Mapping #16


Access Read/write

PDO Mapping No

Admissible Values


Description




Version 1.2.0 / 11.03.2015 / FIR-v1504 119

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Index [16]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0





2330h NanoJ In/output Data Selection

Function

Specifies the object dictionary entries that are copied into the input PDO mapping of the VMM programand after its execution are copied back into the output PDO mapping.

Object description

Index 2330h

Object Name NanoJ In/output Data Selection

Object Code RECORD





Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM In/output Data Selection" to "NanoJ In/output Data Selection".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 01h

Name Mapping #1


Access Read/write

PDO Mapping No

Admissible Values



Version 1.2.0 / 11.03.2015 / FIR-v1504 120

Subindex 02h

Name Mapping #2


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Mapping #3


Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name Mapping #4


Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h

Name Mapping #5


Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h

Name Mapping #6


Access Read/write

PDO Mapping No

Admissible Values


Subindex 07h

Name Mapping #7


Access Read/write

PDO Mapping No

Admissible Values


Subindex 08h


Version 1.2.0 / 11.03.2015 / FIR-v1504 121

Name Mapping #8


Access Read/write

PDO Mapping No

Admissible Values


Subindex 09h

Name Mapping #9


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ah

Name Mapping #10


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Bh

Name Mapping #11


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ch

Name Mapping #12


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Dh

Name Mapping #13


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Eh

Name Mapping #14


Version 1.2.0 / 11.03.2015 / FIR-v1504 122


Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Fh

Name Mapping #15


Access Read/write

PDO Mapping No

Admissible Values


Subindex 10h

Name Mapping #16


Access Read/write

PDO Mapping No

Admissible Values


Description



31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Index [16]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0





2400h NanoJ Inputs

Function

Contains an array with 32 32-bit integer values that is not used within the firmware and is only used forcommunication with the user program via the field bus.

Object description

Index 2400h

Object Name NanoJ Inputs


Version 1.2.0 / 11.03.2015 / FIR-v1504 123

Object Code ARRAY

Data type INTEGER32

Savable No



Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Inputs" to "NanoJ Inputs".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 20h

Subindex 01h

Name NanoJ Input 1#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 02h

Name NanoJ Input 2#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 03h

Name NanoJ Input 3#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 04h

Name NanoJ Input 4#

Data type INTEGER32

Access Read/write


Admissible Values



Version 1.2.0 / 11.03.2015 / FIR-v1504 124

Subindex 05h

Name NanoJ Input 5#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 06h

Name NanoJ Input 6#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 07h

Name NanoJ Input 7#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 08h

Name NanoJ Input 8#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 09h

Name NanoJ Input 9#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Ah

Name NanoJ Input 10#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Bh


Version 1.2.0 / 11.03.2015 / FIR-v1504 125


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Ch


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Dh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Eh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Fh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 10h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 11h



Version 1.2.0 / 11.03.2015 / FIR-v1504 126

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 12h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 13h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 14h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 15h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 16h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 17h


Data type INTEGER32


Version 1.2.0 / 11.03.2015 / FIR-v1504 127

Access Read/write


Admissible Values


Subindex 18h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 19h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Ah


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Bh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Ch


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Dh


Data type INTEGER32

Access Read/write


Version 1.2.0 / 11.03.2015 / FIR-v1504 128


Admissible Values


Subindex 1Eh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Fh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 20h


Data type INTEGER32

Access Read/write


Admissible Values


Description

This is where the specified values, for example, can be transferred to the VMM program.

2410h NanoJ Init Parameters

Function

This object works exactly like the object 2400h, except that this object is persistant.

Object description

Index 2410h

Object Name NanoJ Init Parameters

Object Code ARRAY

Data type INTEGER32


Access Read only

PDO Mapping No

Admissible Values

Specified Value



Version 1.2.0 / 11.03.2015 / FIR-v1504 129

Change History Firmware Version FIR-v1450: Entry "Data type" modified from"INTEGER32" to "UNSIGNED8".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 20h

Subindex 01h

Name NanoJ Init Parameter 1#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 02h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 03h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 04h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 05h


Data type INTEGER32

Access Read/write


Version 1.2.0 / 11.03.2015 / FIR-v1504 130


Admissible Values


Subindex 06h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 07h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 08h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 09h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Ah


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Bh


Data type INTEGER32

Access Read/write



Version 1.2.0 / 11.03.2015 / FIR-v1504 131

Admissible Values


Subindex 0Ch


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Dh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Eh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Fh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 10h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 11h


Data type INTEGER32

Access Read/write


Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 132


Subindex 12h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 13h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 14h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 15h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 16h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 17h


Data type INTEGER32

Access Read/write


Admissible Values



Version 1.2.0 / 11.03.2015 / FIR-v1504 133

Subindex 18h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 19h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Ah


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Bh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Ch


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Dh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Eh


Version 1.2.0 / 11.03.2015 / FIR-v1504 134


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Fh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 20h


Data type INTEGER32

Access Read/write


Admissible Values


Description

2500h NanoJ Outputs

Function

Contains an array with 32 32-bit integer values that is not used within the firmware and is only used forcommunication with the user program via the field bus.

Object description

Index 2500h

Object Name NanoJ Outputs

Object Code ARRAY

Data type INTEGER32

Savable No



Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Outputs" to "NanoJ Outputs".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only


Version 1.2.0 / 11.03.2015 / FIR-v1504 135

PDO Mapping No

Admissible Values

Specified Value 20h

Subindex 01h

Name NanoJ Output 1#

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 02h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 03h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 04h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 05h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 06h


Data type INTEGER32

Access Read/write



Version 1.2.0 / 11.03.2015 / FIR-v1504 136

Admissible Values


Subindex 07h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 08h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 09h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Ah


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Bh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Ch


Data type INTEGER32

Access Read/write


Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 137


Subindex 0Dh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Eh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 0Fh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 10h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 11h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 12h


Data type INTEGER32

Access Read/write


Admissible Values



Version 1.2.0 / 11.03.2015 / FIR-v1504 138

Subindex 13h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 14h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 15h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 16h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 17h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 18h


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 19h


Version 1.2.0 / 11.03.2015 / FIR-v1504 139


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Ah


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Bh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Ch


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Dh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Eh


Data type INTEGER32

Access Read/write


Admissible Values


Subindex 1Fh



Version 1.2.0 / 11.03.2015 / FIR-v1504 140

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 20h


Data type INTEGER32

Access Read/write


Admissible Values


Description

The VMM program can store results here that can then be read out via the field bus.

2600h NanoJ Debug Output

Function

This object contains debug outputs for a user program.

Object description

Index 2600h

Object Name NanoJ Debug Output

Object Code ARRAY

Data type UNSIGNED8

Savable No



Firmware Version FIR-v1436: Entry "Object Name" modified from"VMM Debug Output" to "NanoJ Debug Output".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 01h

Name Value #1

Data type UNSIGNED8

Access Read only

PDO Mapping No


Version 1.2.0 / 11.03.2015 / FIR-v1504 141

Admissible Values

Specified Value 00h

Subindex 02h

Name Value #2

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 03h

Name Value #3

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 04h

Name Value #4

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 05h

Name Value #5

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 06h

Name Value #6

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 07h

Name Value #7

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 142

Specified Value 00h

Subindex 08h

Name Value #8

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 09h

Name Value #9

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 0Ah

Name Value #10

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 0Bh

Name Value #11

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 0Ch

Name Value #12

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 0Dh

Name Value #13

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h


Version 1.2.0 / 11.03.2015 / FIR-v1504 143

Subindex 0Eh

Name Value #14

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 0Fh

Name Value #15

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 10h

Name Value #16

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 11h

Name Value #17

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 12h

Name Value #18

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 13h

Name Value #19

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 14h


Version 1.2.0 / 11.03.2015 / FIR-v1504 144

Name Value #20

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 15h

Name Value #21

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 16h

Name Value #22

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 17h

Name Value #23

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 18h

Name Value #24

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 19h

Name Value #25

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 1Ah

Name Value #26


Version 1.2.0 / 11.03.2015 / FIR-v1504 145

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 1Bh

Name Value #27

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 1Ch

Name Value #28

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 1Dh

Name Value #29

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 1Eh

Name Value #30

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 1Fh

Name Value #31

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 20h

Name Value #32

Data type UNSIGNED8


Version 1.2.0 / 11.03.2015 / FIR-v1504 146

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 21h

Name Value #33

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 22h

Name Value #34

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 23h

Name Value #35

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 24h

Name Value #36

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 25h

Name Value #37

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 26h

Name Value #38

Data type UNSIGNED8

Access Read only


Version 1.2.0 / 11.03.2015 / FIR-v1504 147

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 27h

Name Value #39

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 28h

Name Value #40

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 29h

Name Value #41

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 2Ah

Name Value #42

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 2Bh

Name Value #43

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 2Ch

Name Value #44

Data type UNSIGNED8

Access Read only

PDO Mapping No


Version 1.2.0 / 11.03.2015 / FIR-v1504 148

Admissible Values

Specified Value 00h

Subindex 2Dh

Name Value #45

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 2Eh

Name Value #46

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 2Fh

Name Value #47

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 30h

Name Value #48

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 31h

Name Value #49

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 32h

Name Value #50

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values


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Specified Value 00h

Subindex 33h

Name Value #51

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 34h

Name Value #52

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 35h

Name Value #53

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 36h

Name Value #54

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 37h

Name Value #55

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 38h

Name Value #56

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h


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Subindex 39h

Name Value #57

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 3Ah

Name Value #58

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 3Bh

Name Value #59

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 3Ch

Name Value #60

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 3Dh

Name Value #61

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 3Eh

Name Value #62

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 3Fh


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Name Value #63

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 40h

Name Value #64

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 00h

Description

The VMM program stores the debug outputs here that have been called up with the functionVmmDebugOutputString(), VmmDebugOutputInt(), and suchlike. A detailed description of thedebug output can be found in the " Debug output" sub-section of the " Programming with NanoJ"section.

2700h User Storage Area

Function

In this object up to 8 16 Bit values can be stored.

Set subindex 1 to the value "1", the data will get stored and reloaded after power-up.

Object description

Index 2700h

Object Name User Storage Area

Object Code RECORD

Data type USER_STORAGE_AREA

Savable No

Access Read/write

PDO Mapping No

Admissible Values

Specified Value


Change History Firmware Version FIR-v1426: Amount of subentries has changed from22 to 10.

Firmware Version FIR-v1446: Entry "Name" modified from "StorageControl Word" to "Highest Sub-index Supported".

Firmware Version FIR-v1446: Table entry "Access" at subindex 00modified from "Read/write" to "Read only".

Value description

Subindex 00h


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Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 09h

Subindex 01h

Name Storage Control Word

Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Subindex 02h

Name Storage #1


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Storage #2


Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name Storage #3


Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h

Name Storage #4


Access Read/write

PDO Mapping No

Admissible Values


Subindex 06h

Name Storage #5


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Access Read/write

PDO Mapping No

Admissible Values


Subindex 07h

Name Storage #6


Access Read/write

PDO Mapping No

Admissible Values


Subindex 08h

Name Storage #7


Access Read/write

PDO Mapping No

Admissible Values


Subindex 09h

Name Storage #8


Access Read/write

PDO Mapping No

Admissible Values


Description

3202h Motor Drive Submode Select

Function

Controls the control mode such as the closed loop /open loop changeover and whether velocity modeis simulated via the S control, or whether it operates with a true v control in the closed loop.

Object description

Index 3202h

Object Name Motor Drive Submode Select




Access Read/write


Admissible Values



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Change History

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8

Torque

7 6 5 4 3 2 1 0

Ferr BLDC VoS CL/OLCurRed Brake

CL/OLSwitchover between open loop and closed loop

• Value = "0": Open loop• Value = "1": Closed loop

VoSValue = "1": Simulate v-control via an S ramp

BrakeValue = "1": Switch on the brake controller

CurRed (Current Reduction)Value = "1": Current reduction activated in open loop

Torque

Only active in Profile Torque Mode

Value = "1": M-control is active, otherwise a V-control is superimposed

BLDCValue = "1": Motor type "BLDC" (brushless DC motor)

Ferr (Following Error)Value = "1": A "following error" triggers a fault with an associated response (see object 605Eh)

320Ah Motor Drive Sensor Display Open Loop

Function

It can be used to change the source for objects 6044h and 6064h in open loop mode.

Object description

Index 320Ah

Object Name Motor Drive Sensor Display Open Loop

Object Code ARRAY

Data type INTEGER32



Change History

Value description

Subindex 00h


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Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 04h

Subindex 01h

Name Commutation

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Torque

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Velocity

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name Position

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Description

The following subindices haven a meaning:

• 01h: Unused• 02h: Unused• 03h: Changes the source of object 6044h:

• Value = "-1": The internally calculated value is entered in object 6044h

• Value = "0": The value is kept at 0• Value = "1": The encoder value is entered in object 6044h

• 04h: Changes the source of object 6064h:


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320Bh Motor Drive Sensor Display Closed Loop

Function

It can be used to change the source for objects 6044h and 6064h in closed loop mode.

Object description

Index 320Bh

Object Name Motor Drive Sensor Display Closed Loop

Object Code ARRAY

Data type INTEGER32



Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 04h

Subindex 01h

Name Commutation

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Torque

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Velocity

Data type INTEGER32

Access Read/write

PDO Mapping No


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Admissible Values


Subindex 04h

Name Position

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Description

The following subindices haven a meaning:

• 01h: Unused• 02h: Unused• 03h: Changes the source of object 6044h:



• 04h: Changes the source of object 6064h:



3210h Motor Drive Parameter Set

Function

Contains the P and I values of the current, distance and position controllers for the open loop (only thecurrent controller is activated) and closed loop.

Object description

Index 3210h

Object Name Motor Drive Parameter Set

Object Code ARRAY

Data type INTEGER32




Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 0Ah


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Subindex 01h

Name S_P

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name S_I

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name V_P

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00001B58h

Subindex 04h

Name V_I

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 05h

Name Id_P

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 000668A0h

Subindex 06h

Name Id_I

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00002EE0h

Subindex 07h


Version 1.2.0 / 11.03.2015 / FIR-v1504 159

Name Iq_P

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 000668A0h

Subindex 08h

Name Iq_I

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00002EE0h

Subindex 09h

Name I_P

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Subindex 0Ah

Name I_I

Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Description

• Subindex 00h: Number of entries• Subindex 01h: Proportional value of the S control• Subindex 02h: Integral value of the S control• Subindex 03h: Proportional value of the V control• Subindex 04h: Integral value of the V control• Subindex 05h: (Closed Loop) Proportional value of the current controller for the field-forming

component• Subindex 06h: (Closed Loop) Integral value of the current controller for the field-forming component• Subindex 07h: (Closed Loop) Proportional value of the current controller for the torque-forming

component• Subindex 08h: (Closed Loop) Integral value of the current controller for the torque-forming

component• Subindex 09h: (Open Loop) Proportional value of the current controller for the torque-forming

component• Subindex 0Ah: (Open Loop) Integral value of the current controller for the torque-forming component


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3212h Motor Drive Flags

Function

This object determines, wether the output voltage for the motor is active in state "switched on" of theDS 402 Statemachine or not.

Object description

Index 3212h

Object Name Motor Drive Flags

Object Code ARRAY

Data type INTEGER8


Access Read only

PDO Mapping No

Admissible Values

Specified Value


Change History Firmware Version FIR-v1450: Entry "Data type" modified from"INTEGER8" to "UNSIGNED8".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 01h

Subindex 01h

Name Enable Legacy Power Mode

Data type INTEGER8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h

Description

For the subindex 01h are valid values:

• Value = "0": The output voltage for the motor (PWM) at state "Switched On" of " DS402 PowerState machine" is set fix to 50%, no holding torque is build up.

• Value = "1": The output voltage for the motor (PWM) at state "Switched On" of " DS402 PowerState machine" is controlled active by the controller, holding torque is build up. The motor will keptstill.


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3220h Analog Inputs

Function

Shows the present values of the analog inputs in [digits].

Object 3221h allows the respective analog input to be configured as a current or voltage input.

Object description

Index 3220h

Object Name Analog Inputs

Object Code ARRAY

Data type INTEGER16

Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Analogue Input 1

Data type INTEGER16

Access Read only


Admissible Values


Subindex 02h


Data type INTEGER16

Access Read only


Admissible Values


Description

Formulas for conversion of [digits] into the respective unit:

• Voltage input: (x digits - 512 digits) * 20 V / 1024 digits• Current input: x digits * 20 mA/1024 digits


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3221h Analogue Inputs Control

Function

This object can be used to change an analog input from voltage to current measurement.

Object description

Index 3221h

Object Name Analogue Inputs Control


Data type INTEGER32


Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

AC2 AC1

In general: If a bit is set to 0, the analog input measures the voltage; if the bit is set to 1, the current ismeasured.

AC1Setting for analog input 1

AC2Setting for analog input 2

3225h Analogue Inputs Switches

Function

This object contains either the adjustet CANopen nodeId of the rotary switch or the positions of the DIPswitches

Object description

Index 3225h

Object Name Analogue Inputs Switches

Object Code ARRAY


Savable No

Access Read only

PDO Mapping No


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Admissible Values

Specified Value


Change History Firmware Version FIR-v1436: Entry "Data type" modified from"UNSIGNED16" to "UNSIGNED8".

Firmware Version FIR-v1436: Table entry "PDO Mapping" at subindex01 modified from "RX - PDO" to "TX - PDO".

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 01h

Subindex 01h

Name Analogue Input Switch1


Access Read only


Admissible Values


Description

In subindex 1 the nodeId of the rotary switch(es) is registered if a CANopen interface is available to thecontroller.

When a DIP-Switch is fitted to the controller, the positions of the DIP switches are strored in subindex1. Bit 0 accords the switch 1, the value of the bit is "1" if the switch is set to "on".

3240h Digital Inputs Control

Function

This object can be used to manipulate the digital inputs as described in the " Digital inputs andoutputs" section. For all the following subindices, bit 0 pertains to digital input 1, bit 1 pertains to input2, etc.

Object description

Index 3240h

Object Name Digital Inputs Control

Object Code ARRAY




Change History Version 1.0.3: Subindex 01h: The "Name" entry was changed from"Special Function Disable" to "Special Function Enable"


Version 1.2.0 / 11.03.2015 / FIR-v1504 164

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 07h

Subindex 01h

Name Special Function Enable


Access Read/write


Admissible Values


Subindex 02h

Name Function Inverted


Access Read/write


Admissible Values


Subindex 03h

Name Force Enable


Access Read/write


Admissible Values


Subindex 04h

Name Force Value


Access Read/write


Admissible Values


Subindex 05h

Name Raw Value


Access Read/write


Admissible Values



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Subindex 06h

Name Input Range Select


Access Read/write


Admissible Values


Subindex 07h

Name Differential Select


Access Read/write


Admissible Values


Description


• 01h: This subindex switches on the special functions of the respective input if the bit has the value"1".

• 02h: This subindex inverts the logic of an input if the respective input has the value "1".• 03h: This subindex forces an input value if the bit has the value "1". An input with a forced value is

always set to the value entered in subentry 4h regardless of the applied voltage level.• 04h: This subindex specifies the input value to be forced.• 05h: This subindex always contains the read, unmodified input value.• 06h: This subindex switches the switching thresholds between 5 V (value "0" in the subindex) and

24 V (value "1" in the subindex) for all inputs at once.• 07h: This subindex switches the inputs from a single ended (value "0" in the subindex) to differential

(value "1" in the subindex) for all inputs at once.

3250h Digital Outputs Control

Function

This object can be used to control the digital outputs as described in the " Digital inputs and outputs"section. For all the following subindices, bit 0 pertains to digital output 1, bit 1 pertains to output 2, etc.

Object description

Index 3250h

Object Name Digital Outputs Control

Object Code ARRAY




Change History Firmware Version FIR-v1426: Subindex 01h: Entry "Name" changedfrom "Special Function Disable" auf "Special Function Enable"

Firmware Version FIR-v1446: Entry "Name" modified from "SpecialFunction Enable" to "No Function".


Version 1.2.0 / 11.03.2015 / FIR-v1504 166

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 05h

Subindex 01h

Name No Function


Access Read/write


Admissible Values


Subindex 02h

Name Function Inverted


Access Read/write


Admissible Values


Subindex 03h

Name Force Enable


Access Read/write


Admissible Values


Subindex 04h

Name Force Value


Access Read/write


Admissible Values


Subindex 05h

Name Raw Value


Access Read/write


Admissible Values



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Description


• 01h: No function.• 02h: This subindex inverts the logic (from opener logic to closer logic)• 03h: This subindex forces an output value if the bit has the value "1". The level of the output is

defined in subindex 4h.• 04h: This subindex defines the level to be applied to the output. The value "0" delivers a logical low

level at the digital output; value "1" delivers a logical high level.• 05h: In this subindex, the bit combination applied to the outputs is stored.

3320h Read Analogue Input

Function

Displays the momentary value of the analogue inputs in user units.

Object description

Index 3320h

Object Name Read Analogue Input

Object Code ARRAY

Data type INTEGER32

Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value


Change History

Value description

Subindex 00h

Name Number Of Analogue Inputs

Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h


Data type INTEGER32

Access Read only


Admissible Values


Subindex 02h


Data type INTEGER32


Version 1.2.0 / 11.03.2015 / FIR-v1504 168

Access Read only


Admissible Values


Description

The user units are combined from offset ( 3321h) and pre scaling value ( 3322h). When both objects areleft to the default settings, the value in 3320h is given in the unint "ADC digits".

Formulars for converting from digits to the particular unig:

Voltage input: x digits * 10 V / 1024 digits

Current input: x digits * 20 mA / 1024 digits

For the sub entries applys:

• Subindex 00h: Amount of analogue inputs• Subindex 01h: Analogue value 1• Subindex 02h: Analogue value 2

3321h Analogue Input Offset

Function

Offset that is added to the read-in analog value ( 3320h) before division with the divider from object3322h is carried out.

Object description

Index 3321h

Object Name Analogue Input Offset

Object Code ARRAY

Data type INTEGER32



Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h


Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values



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Subindex 02h


Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values


Description

• Subindex 00h: Number of offsets• Subindex 01h: Offset for analog input 1• Subindex 02h: Offset for analog input 2

3322h Analogue Input Pre-scaling

Function

Value with which the read-in analog value ( 3320h, 3321h) is divided before it is written into object3320h.

Object description

Index 3322h

Object Name Analogue Input Pre-scaling

Object Code ARRAY

Data type INTEGER32



Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h


Data type INTEGER32

Access Read/write

PDO Mapping No

Admissible Values All values allowed, except 0


Subindex 02h


Data type INTEGER32


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Access Read/write

PDO Mapping No

Admissible Values All values allowed, except 0


Description

• Subindex 00h: Number of dividers• Subindex 01h: Divider for analog input 1• Subindex 02h: Divider for analog input 2

3700h Following Error Option Code

Function

The object contains the action to be executed if a "following error" is triggered.

Object description

Index 3700h

Object Name Following Error Option Code


Data type INTEGER16


Access Read/write

PDO Mapping No

Admissible Values

Specified Value FFFFh


Change History

Description

Value Description



1 Braking with "slow down ramp" (deceleration depending on operatingmode)

2 Braking with "quick stop ramp" (deceleration depending on operating mode)

3 to 32767 Reserved

4040h Drive Serial Number

Function

This object contains the serial number of the motor controller.

Object description

Index 4040h

Object Name Drive Serial Number




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Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value


Change History

603Fh Error Code

Function

Contains the last error that occurred.

Object description

Index 603Fh

Object Name Error Code



Savable No

Access Read only


Admissible Values



Change History

Description

For the meaning of the error, see object 1003h (Pre-defined Error Field).

6040h Controlword

Function

The motor is switched on and travel commands can be carried out with this object.

Object description

Index 6040h

Object Name Controlword



Savable No

Access Read/write


Admissible Values



Change History


Version 1.2.0 / 11.03.2015 / FIR-v1504 172

Description

This object controls the " DS402 Power State machine". The function of parts of the object aredepending on the currently selected mode.

OMS [3]FR EV SOEO QSOMS HALT

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

SO (Switched On)Value = "1": Switches to the "Switched on" state

EV (Enable Voltage)Value = "1": Switches to the "Enable voltage" state

QS (Quick Stop)Value = "0": Switches the "Quick stop" state

EO (Enable Operation)Value = "1": Switches to the "Enable operation" state

OMS [3] (Operation Mode Specific)Meaning depends on the selected operating mode

FR (Fault Reset)Resets an error (if possible)

HALTValue = "1": Triggers a stop

6041h Statusword

Function

This object queries whether the state commanded with object 6040h (control word) has been reached.

Object description

Index 6041h

Object Name Statusword



Savable No

Access Read only


Admissible Values



Change History

Description

This object controls the " DS402 Power State machine". The function of parts of the object aredepending on the currently selected mode.

QS VEWARN SOD SO RTSOFAULT OEOMS [2]CLA REM SYNCILA TARG

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0


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RTSO (Ready To Switch On)Value = "1": Motor controller is in the "Ready To Switch On" state

SO (Switched On)Value = "1": Motor controller is in the "Switched On" state

OE (Operational Enabled)Value = "1": Motor controller is in the state "Operational Enabled" state

FAULTError occurred

VE (Voltage Enabled)Voltage created

QS (Quick Stop)Value = "0": Motor controller is in the "Quick Stop" state

SOD (Switched On Disabled)Value = "1": Motor controller is in the "Switched on disabled" state

WARN (Warning)Value = "1": Warning

REM (Remote)Remote (value of bit always "1")

TARG (Target Reached)Target specification reached

ILA (Internal Limit Reached)Limit exceeded

OMS (Operation Mode Specific)Meaning depends on the selected operating mode

CLA (Closed Loop Available)Value = "1": AutoSetup successful and closed loop possible

6042h Vl Target Velocity

Function

Specifies the target speed in user units.

Object description

Index 6042h

Object Name Vl Target Velocity


Data type INTEGER16

Savable No

Access Read/write


Admissible Values


Version 1.2.0 / 11.03.2015 / FIR-v1504 174

Specified Value 00C8h


Change History

6043h Vl Velocity Demand

Function

Specifies the actual target speed in user units.

Object description

Index 6043h

Object Name Vl Velocity Demand


Data type INTEGER16

Savable No

Access Read only


Admissible Values



Change History

6044h Vl Velocity Actual Value

Function

Specifies the current actual speed in user units.

In open loop mode, the source of this object can be set either to the internal, calculated value or to theencoder with object 320Ah:03h.

In closed loop mode, the source of this object can be set either to the internal, calculated value or tothe encoder with object 320Bh:03h.

Object description

Index 6044h

Object Name Vl Velocity Actual Value


Data type INTEGER16

Savable No

Access Read only


Admissible Values



Change History


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6046h Vl Velocity Min Max Amount

Function

The minimum speed and maximum speed in user units can be set with this object.

Object description

Index 6046h

Object Name Vl Velocity Min Max Amount

Object Code ARRAY




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name MinAmount


Access Read/write


Admissible Values


Subindex 02h

Name MaxAmount


Access Read/write


Admissible Values


Description

Subindex 1 contains the minimum speed.

Subindex 2 contains the maximum speed.

Note

If the magnitude of the specified target speed (object 6042h) is less than the minimum speed, theminimum speed applies. If the target speed is 0, the motor stops.


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Note

A target speed greater than the maximum speed sets the speed to the maximum speed and sets bit11 "Limit exceeded" in object 6041h (status word).

6048h Vl Velocity Acceleration

Function

Sets the acceleration ramp in velocity mode (see " Velocity").

Object description

Index 6048h

Object Name Vl Velocity Acceleration

Object Code RECORD

Data type VELOCITY_ACCELERATION_DECELERATION



Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name DeltaSpeed


Access Read/write


Admissible Values


Subindex 02h

Name DeltaTime


Access Read/write


Admissible Values


Description

The acceleration is specified as a fraction:

Speed change per time change.

Subindex 01h: Contains the speed change in steps per second (U32).


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Subindex 02h: Contains the time change in seconds (U16).

6049h Vl Velocity Deceleration

Function

Sets the brake ramp in velocity mode (siehe chapter " Velocity").

Object description

Index 6049h

Object Name Vl Velocity Deceleration

Object Code RECORD




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name DeltaSpeed


Access Read/write


Admissible Values


Subindex 02h

Name DeltaTime


Access Read/write


Admissible Values


604Ah Vl Velocity Quick Stop

Function

This object defines the deceleration if the quick stop state is initiated in velocity mode.


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Object description

Index 604Ah

Object Name Vl Velocity Quick Stop

Object Code RECORD




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name DeltaSpeed


Access Read/write


Admissible Values


Subindex 02h

Name DeltaTime


Access Read/write


Admissible Values


Description

Subindex 1 contains the speed change, and subindex 2 the associated time in seconds.

Both together are computed as the acceleration:

Velocity Quick Stop = DeltaSpeed ( 604Ah:01h)/DeltaTime ( 604Ah:02h)

604Ch Vl Dimension Factor

Function

The unit for the speed specifications for the objects that pertain to the Velocity Mode are defined here.

Object description

Index 604Ch

Object Name Vl Dimension Factor


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Object Code ARRAY

Data type INTEGER32



Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Vl Dimension Factor Numerator

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 02h

Name Vl Dimension Factor Denominator

Data type INTEGER32

Access Read/write


Admissible Values


Description

If subindex 1 is set to the value "1" and subindex 2 is set to the value "60", the speed is indicated inrevolutions per minute.

Otherwise, subindex 1 contains the denominator (multiplier) and subindex 2 the numerator (divisor)with which the speed specifications are computed.

The result is interpreted as revolutions per second; at object 2060h, the selection is made of whetherthese are electrical ( 2060h = 0) or mechanical ( 2060h = 1) revolutions per second.

605Ah Quick Stop Option Code

Function

The object contains the action to be executed when the " DS402 Power State machine" transitions tothe Quick Stop state.

Object description

Index 605Ah

Object Name Quick Stop Option Code


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Data type INTEGER16


Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

Value Description



1 Braking with "slow down ramp" (deceleration depending on operatingmode) and subsequent state change to "Switch on disabled"

2 Braking with "quick stop ramp" and subsequent state change to "Switch ondisabled"

3 to 32767 Reserved

605Bh Shutdown Option Code

Function

The object contains the action to be executed when the " DS402 Power State machine" transitionsfrom the "Operation enabled" state to the "Ready to switch on" state.

Object description

Index 605Bh

Object Name Shutdown Option Code


Data type INTEGER16


Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

Value Description




2 to 32767 Reserved


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605Ch Disable Option Code

Function

The object contains the action to be executed when the " DS402 Power State machine" transitionsfrom the "Operation enabled" state to the "Switched on" state.

Object description

Index 605Ch

Object Name Disable Option Code


Data type INTEGER16


Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

Value Description




2 to 32767 Reserved

605Dh Halt Option Code

Function

The object contains the action to be executed if stop bit 8 is set in control word 6040h.

Object description

Index 605Dh

Object Name Halt Option Code


Data type INTEGER16


Access Read/write

PDO Mapping No

Admissible Values



Change History


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Description

Value Description

-32768 to 0 Reserved



3 to 32767 Reserved

605Eh Fault Option Code

Function

The object contains the action that is to be executed when the motor needs to be brought to idling incase of a fault.

Object description

Index 605Eh

Object Name Fault Option Code


Data type INTEGER16


Access Read/write

PDO Mapping No

Admissible Values



Change History

Description

Value Description





3 to 32767 Reserved

6060h Modes Of Operation

Function

The desired operating mode is entered in this object.

Object description

Index 6060h

Object Name Modes Of Operation


Data type INTEGER8


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Savable No

Access Read/write


Admissible Values

Specified Value 00h


Change History

Description

Mode Description

-128 to -2 Manufacturer-specific operation modes

-1 Clock/direction mode

0 No mode change/no mode assigned

1 Profile Position Mode

2 Velocity Mode

3 Profile Velocity Mode

4 Profile Torque Mode

5 Reserved

6 Homing Mode

7 Not assigned

8 to 127 Reserved

6061h Modes Of Operation Display

Function

Contains the current operating mode set in object 6060h ("Modes Of Operation").

Object description

Index 6061h

Object Name Modes Of Operation Display


Data type INTEGER8

Savable No

Access Read only


Admissible Values

Specified Value 00h


Change History

6062h Position Demand Value

Function

Specifies the actual set position in user units.


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Object description

Index 6062h

Object Name Position Demand Value


Data type INTEGER32

Savable No

Access Read only


Admissible Values



Change History

6063h Position Actual Internal Value

Function

Contains the actual encoder position in cycles since the drive was switched on.

Object description

Index 6063h

Object Name Position Actual Internal Value


Data type INTEGER32

Savable No

Access Read only


Admissible Values



Change History

6064h Position Actual Value

Function

Contains the current actual position (encoder position converted acc. to Feed Constant ( 6092) andGear Ratio ( 6091) and reference position)

In open loop mode, the source of this object can be set either to the internal, calculated value or to theencoder with object 320Ah:04h.

In closed loop mode, the source of this object can be set either to the internal, calculated value or tothe encoder with object 320Bh:04h.

Object description

Index 6064h

Object Name Position Actual Value


Data type INTEGER32


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Savable No

Access Read only


Admissible Values



Change History

6065h Following Error Window

Function

Specifies the maximum following error symmetrically to the demanded position.

Object description

Index 6065h

Object Name Following Error Window




Access Read/write


Admissible Values



Change History Firmware Version FIR-v1504: Entry "Savable" modified from "No" to"yes, category: application".

Description

If the value of the following error window is set to "FFFFFFFF"h, the following control is switched off.

If the difference between the actual position and the set position is so large that value of this object isexceeded, bit 11 is set for "Limit exceeded" in object 6041h (status word). The deviation must be longerthan the time in object 6066h.

To obtain an automatic response to the error, bit 7 must be activated in object 3202h. A fault isgenerated if the "following error" is created – and reacts correspondingly to it ( 6041h bit 3 "Erroroccurred").

6066h Following Error Time Out

Function

Time in milliseconds until too large a following error leads to an error message.

Object description

Index 6066h

Object Name Following Error Time Out





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Access Read/write


Admissible Values




Description

If the difference between the actual position and the set position is so large that the value of object6065h is exceeded, bit 11 for "Limit exceeded" is set in 6041h (status word). The deviation must belonger than the time in this object.

To obtain an automatic response to the error, bit 7 must be activated in object 3202h. A fault isgenerated if the "following error" is created – and reacts correspondingly to it ( 6041h bit 3 "Erroroccurred").

6067h Position Window

Function

Specifies a symmetrical range relative to the target position within which the target is considered to bereached.

If the value of the position window is FFFFFFFFh, the position window control shall be switched off.

Object description

Index 6067h

Object Name Position Window




Access Read/write


Admissible Values

Specified Value 0000000Ah



6068h Position Window Time

Function

For this time period in milliseconds, the actual position must be within the "Position Window" ( 6067) forthe target position to be considered to have been reached.

Object description

Index 6068h

Object Name Position Window Time



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Access Read/write


Admissible Values




606Bh Velocity Demand Value

Function

Speed specification for the control in the Profile Velocity Mode.

This object is computed with user-defined units (see also " User-defined units"). The motor controlleris delivered with the units set to rpm.

Object description

Index 606Bh

Object Name Velocity Demand Value


Data type INTEGER32

Savable No

Access Read only


Admissible Values



Change History

Description

This object contains the output of the ramp generator which is the specified value for the speedcontroller at the same time.

606Ch Velocity Actual Value

Function

The current actual speed in the profile velocity mode.

Object description

Index 606Ch

Object Name Velocity Actual Value


Data type INTEGER32

Savable No

Access Read only


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Admissible Values



Change History

606Dh Velocity Window

Function

Speed window for the Profile Velocity Mode.

Object description

Index 606Dh

Object Name Velocity Window



Savable No

Access Read/write


Admissible Values

Specified Value 001Eh


Change History

Description

This value specifies by how much the actual speed may vary from the set speed for bit 10 "Targetreached" in status word ( 6041h) to be set to "1".

606Eh Velocity Window Time

Function

Time window for the Profile Velocity Mode.

Object description

Index 606Eh

Object Name Velocity Window Time



Savable No

Access Read/write


Admissible Values



Change History


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Description

This object specifies how long the actual speed and the set speed must be near each other inmagnitude (see 606Dh) for bit 10 "Target reached" in status word ( 6041h) to be set to "1".

6071h Target Torque

Function

This object contains the target torque for the "Profile Torque" and the "Cyclic Synchronous Torque"mode.

Object description

Index 6071h

Object Name Target Torque


Data type INTEGER16

Savable No

Access Read/write


Admissible Values



Change History

6072h Max Torque

Function

The object describes the maximum torque.

Object description

Index 6072h

Object Name Max Torque




Access Read/write


Admissible Values



Change History

6074h Torque Demand

Function

Current output value of the ramp generator (torque) for the internal control.


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Object description

Index 6074h

Object Name Torque Demand


Data type INTEGER16

Savable No

Access Read only


Admissible Values



Change History

607Ah Target Position

Function

This object specifies the target position in the "Profile Position" the "Cyclic Synchronous Position"mode.

Object description

Index 607Ah

Object Name Target Position


Data type INTEGER32

Savable No

Access Read/write


Admissible Values

Specified Value 00000FA0h


Change History

607Bh Position Range Limit

Function

Contains the minimum and maximum position.

Object description

Index 607Bh

Object Name Position Range Limit

Object Code ARRAY

Data type INTEGER32



Change History


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Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Min Position Range Limit

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 02h

Name Max Position Range Limit

Data type INTEGER32

Access Read/write


Admissible Values

Specified Value 7FFFFFFEh

Description

If this range is exceeded or undercut, an overflow occurs. Limit values for the target position can be setin object 607Dh ("Software Position Limit") to prevent this overflow.

607Ch Home Offset

Function

Specifies the difference between the zero position of the application and the reference point of themachine. This object is computed in the same unit used for calculation for object 607Ah (see " User-defined units").

Object description

Index 607Ch

Object Name Home Offset


Data type INTEGER32


Access Read/write


Admissible Values



Change History


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607Dh Software Position Limit

Function

Limit values for the target position.

Object description

Index 607Dh

Object Name Software Position Limit

Object Code ARRAY

Data type INTEGER32



Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Min Position Limit

Data type INTEGER32

Access Read/write


Admissible Values


Subindex 02h

Name Max Position Limit

Data type INTEGER32

Access Read/write


Admissible Values

Specified Value 7FFFFFFFh

Description

The target position must lie within the limits set here. Before the check, the home offset ( 607Ch) isdeducted in each case:

Corrected min position limit = min position limit - home offset

Corrected max position limit = max position limit - home offset.


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607Eh Polarity

Function

This object can be used to reverse the direction of rotation.

Object description

Index 607Eh

Object Name Polarity


Data type UNSIGNED8


Access Read/write

PDO Mapping No

Admissible Values

Specified Value 00h


Change History

Description

The general rule for direction reversal is: Reversal is activated if a bit is set to the value "1". If the valueis "0", the direction of rotation is as specified in the respective mode

POS VEL

7 6 5 4 3 2 1 0

VEL (Velocity)

Reversal of the direction of rotation in the following modes:

• Profile Velocity Mode• Cyclic Synchronous Velocity Mode• Velocity Mode

POS (Position)

Reversal of the direction of rotation in the following modes:

• Profile Position Mode• Cyclic Synchronous Position Mode

6081h Profile Velocity

Function

Specifies the maximum traveling speed in revolutions per second.

This object is computed with user-defined units (see " User-defined units"). The motor controller isdelivered with the units set to revolutions per minute.

Object description

Index 6081h

Object Name Profile Velocity


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Access Read/write


Admissible Values



Change History

6082h End Velocity

Function

Specifies the speed at the end of the traveled ramp.


Object description

Index 6082h

Object Name End Velocity




Access Read/write


Admissible Values



Change History

6083h Profile Acceleration

Function

Specifies the maximum acceleration in revolutions/s 2.

Object description

Index 6083h

Object Name Profile Acceleration




Access Read/write


Admissible Values




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Change History

6084h Profile Deceleration

Function

Specifies the maximum deceleration in revolutions/s 2.

Object description

Index 6084h

Object Name Profile Deceleration




Access Read/write


Admissible Values



Change History

6085h Quick Stop Deceleration

Function

Specifies the maximum Quick Stop deceleration in revolutions/s 2.

Object description

Index 6085h

Object Name Quick Stop Deceleration




Access Read/write


Admissible Values



Change History

6086h Motion Profile Type

Function

Specifies the ramp type.

Object description

Index 6086h

Object Name Motion Profile Type


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Data type INTEGER16


Access Read/write


Admissible Values



Change History

Description

Value = "0": = trapezoid ramp

Value = "3": Jerk-limited ramp

6087h Torque Slope

Function

This object contains the torque slope in torque mode.

Object description

Index 6087h

Object Name Torque Slope




Access Read/write


Admissible Values



Change History

608Fh Position Encoder Resolution

Function

Encoder cycles per revolution.

Object description

Index 608Fh

Object Name Position Encoder Resolution

Object Code ARRAY




Change History


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Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Encoder Increments


Access Read/write

PDO Mapping No

Admissible Values

Specified Value 000007D0h

Subindex 02h

Name Motor Revolutions


Access Read/write

PDO Mapping No

Admissible Values


Description

Position encoder resolution = encoder cycles (608Fh:01h)/motor revolutions (608Fh:02h)

6091h Gear Ratio

Function

Number of motor revolutions per revolution of the output axis.

Object description

Index 6091h

Object Name Gear Ratio

Object Code ARRAY




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only


Version 1.2.0 / 11.03.2015 / FIR-v1504 198

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Motor Revolutions


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h

Name Shaft Revolutions


Access Read/write

PDO Mapping No

Admissible Values


Description

Gear ratio = motor revolutions (6091h:01h) / shaft revolutions (6091h:02h)

6092h Feed Constant

Function

Feed per revolution for a linear drive.

Object description

Index 6092h

Object Name Feed Constant

Object Code ARRAY




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Feed


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Access Read/write


Admissible Values


Subindex 02h

Name Shaft Revolutions


Access Read/write


Admissible Values


Description

Feed Constant = Feed (6092h:01h)/Shaft Revolutions (6092h:02h)

6098h Homing Method

Function

This object selects the homing mode.

Object description

Index 6098h

Object Name Homing Method


Data type INTEGER8


Access Read/write


Admissible Values

Specified Value 23h


Change History

6099h Homing Speed

Function

Specifies the speeds for the Homing Mode ( 6098h ) in revolutions/s.


Object description

Index 6099h

Object Name Homing Speed

Object Code ARRAY



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Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 02h

Subindex 01h

Name Speed During Search For Switch


Access Read/write


Admissible Values


Subindex 02h

Name Speed During Search For Zero


Access Read/write


Admissible Values


Description

This value is computed with the numerator in object 2061h and the denominator in object 2062h.

The speed for the search of the switch is specified in subindex 1.

The (lower) speed for the search for the reference position is specified in Subindex 2.

Note

• The speed in Subindex 2 is also the starting speed for starting the acceleration ramp. If this is settoo high, the motor loses steps or does not rotate at all. An excessive setting leads to the indexmarking being overlooked. The speed in subindex 2 should therefore be below 1000 steps persecond.

• The speed in subindex 1 must be greater than the speed in subindex 2.

609Ah Homing Acceleration

Function

Specifies the acceleration ramp for homing mode in steps/s 2.

Object description

Index 609Ah


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Object Name Homing Acceleration




Access Read/write


Admissible Values



Change History

Description

The ramp is only used when starting off. When the switch is reached, the unit is automatically switchedto the lower speed and is stopped as soon as it reaches the limit position.

60A4h Profile Jerk

Function

In case of a jerk-limited ramp, the magnitude of the jerk can be entered in this object. An entry with thevalue "0" means that the jerk is not limited.

Object description

Index 60A4h

Object Name Profile Jerk

Object Code ARRAY




Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 04h

Subindex 01h

Name Begin Acceleration Jerk


Access Read/write

PDO Mapping No

Admissible Values


Subindex 02h


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Name End Acceleration Jerk


Access Read/write

PDO Mapping No

Admissible Values


Subindex 03h

Name Begin Deceleration Jerk


Access Read/write

PDO Mapping No

Admissible Values


Subindex 04h

Name End Deceleration Jerk


Access Read/write

PDO Mapping No

Admissible Values


60C2h Interpolation Time Period

Function

This object contains the interpolation time in milliseconds squared.

Object description

Index 60C2h

Object Name Interpolation Time Period

Object Code RECORD

Data type INTERPOLATION_TIME_PERIOD


Access Read only

PDO Mapping No

Admissible Values

Specified Value


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No


Version 1.2.0 / 11.03.2015 / FIR-v1504 203

Admissible Values

Specified Value 02h

Subindex 01h

Name Interpolation Time Period Value

Data type UNSIGNED8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value 01h

Subindex 02h

Name Interpolation Time Index

Data type INTEGER8

Access Read/write

PDO Mapping No

Admissible Values

Specified Value FDh

Description

The subindices have the following functions:

• 01h: Interpolation time, units: Specifies the interpolation time; at this time, only times that are powersof two are supported, such as 1, 2, 4, 8, 16, etc.

• 02h: Interpolation time, index: must hold the value of -3 (corresponds to the time basis inmilliseconds).

60C5h Max Acceleration

Function

This object contains the maximum admissible acceleration ramp.

For the braking ramp: see object 60C6h "Max Deceleration".

Object description

Index 60C5h

Object Name Max Acceleration




Access Read/write


Admissible Values



Change History


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60C6h Max Deceleration

Function

This object contains the maximum admissible braking ramp.

For the acceleration ramp: See object 60C5h "Max Acceleration".

Object description

Index 60C6h

Object Name Max Deceleration




Access Read/write


Admissible Values



Change History

60F2h Positioning Option Code

Function

This object defines the positioning behaviour in "Profile Position" mode.

Object description

Index 60F2h

Object Name Positioning Option Code



Savable No

Access Read/write


Admissible Values



Change History

Description

At the moment only bit 0, 1, 6 and 7 are supported.

RADO [2]MS RESERVED [3]

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

RRO [2] CIO [2] REL. OPT. [2]IP OPTION [4]

REL. OPT. (Relative Option)

These Bits determine relative rotation behaviour in the "Profile Position" mode when bit 6 of thecontrolword 6040h ="1" is set.


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0 0 Positioning moves is performed relative to the preceding (internalabsolute) target position (rsp. relative to 0 if there is no preceding targetposition).

0 1 Positioning moves is performed relative to the actual position demandvalue–output of the trajectory generator.

1 0 Positioning moves is performed relative to the position actual value(object 6064h).

1 1 Reserved

RADO (Rotary Axis Direction Option)

These Bits determine the rotation in the "Profile Position" mode.


0 0 Normal positioning similar to linear axis; If reaching or exceeding theposition range limits ( 607Bh) the input value shall wrap automatically tothe other end of the range. Positioning can be relative or absolute. Onlywith this bit combination, the movement greater than a modulo value ispossible.

0 1 Positioning only in negative direction; if target position is higher thanactual position, axis moves over the min position limit 607Dh:01h to thetarget position.

1 0 Positioning only in positive direction; if target position is lower than actualposition, axis moves over the max position limit 607Dh:02h to the targetposition.

1 1 Positioning with the shortest way to the target position.

Note

If the difference between actual value and target position in a 360°system is 180°, the axis moves in positive direction.

60F4h Following Error Actual Value

Function

This object contains the current following error.

Object description

Index 60F4h

Object Name Following Error Actual Value


Data type INTEGER32

Savable No

Access Read only


Admissible Values




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Change History

Description

This object is computed with user-defined units (see " User-defined units").

60FDh Digital Inputs

Function

The digital inputs of the motor can be read with this object.

Object description

Index 60FDh

Object Name Digital Inputs



Savable No

Access Read only


Admissible Values



Change History

Description

31 30 29 28 27 26 25 24

IN 6

23 22 21 20 19 18 17 16

IN 5IN 8 IN 7 IN 2 IN 1IN 4 IN 3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

PLS NLSHS

NLS (Negative Limit Switch)Negative limit switch

PLS (Positive Limit Switch)Positive limit switch

HS (Home Switch)Reference switch

IN n (Input n)Input n - the number of used bits is depending on the respective motor controller.

60FEh Digital Outputs

Function

The digital outputs of the motor can be written with this object.

Object description

Index 60FEh


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Object Name Digital Outputs

Object Code ARRAY


Savable No


Change History

Value description

Subindex 00h


Data type UNSIGNED8

Access Read only

PDO Mapping No

Admissible Values

Specified Value 01h

Subindex 01h

Name Digital Outputs #1


Access Read/write


Admissible Values


Description

The entries in object 3250h, subindex 02h to 05h still have to be taken into account for writing theoutputs.

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

OUT2 OUT1OUT4 OUT3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

BRK

BRK (Brake)Bit brake output if ihe controller supports this functionality.

OUT n (Output No n)Bit for the respective digital output, the exact number of digital outputs is dependent on themotor controller.

60FFh Target Velocity

Function

The target speed for the "Profile Velocity" the "Cyclic Synchronous Torque" mode is entered in thisobject.



Version 1.2.0 / 11.03.2015 / FIR-v1504 208

Object description

Index 60FFh

Object Name Target Velocity


Data type INTEGER32

Savable No

Access Read/write


Admissible Values



Change History

6502h Supported Drive Modes

Function

The object specifies the supported drive modes.

Object description

Index 6502h

Object Name Supported Drive Modes



Savable No

Access Read only


Admissible Values

Specified Value 000000AFh


Change History

Description

A set bit specifies whether the respective mode is supported. The mode is not supported if the value ofthe bit is "0".

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

15 14 13 12 11 10 9 8

HM

7 6 5 4 3 2 1 0

CSP IP VL PPTQ PVCST CSV

PPProfile Position mode

VLVelocity mode

PVProfile Velocity mode


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TQTorque mode

HMHoming (reference run) mode

IPInterpolated Position mode

CSPCyclic Synchronous Position mode

CSVCyclic Synchronous Velocity mode

CSTCyclic Sync Torque mode

6505h Http Drive Catalogue Address

Function

This object contains the web address of the manufacturer as a string.

Object description

Index 6505h

Object Name Http Drive Catalogue Address



Savable No

Access Read only

PDO Mapping No

Admissible Values

Specified Value http://www.nanotec.de


Change History

Manual PD4-C (USB)12 Copyright notice

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12 Copyright notice

12.1 Introduction

Components from external software manufacturers are integrated in the Nanotec software. In thissection you will find copyright information on the external sources of software components.

12.2 AES

FIPS-197 compliant AES implementation

Based on XySSL: Copyright (C) 2006-2008 Christophe Devine

Copyright (C) 2009 Paul Bakker <polarssl_maintainer at polarssl dot org>

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted providedthat the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and thefollowing disclaimer.

• Redistributions in binary form must reproduce the above copyright notice, this list of conditions andthe following disclaimer in the documentation and/or other materials provided with the distribution;or, the application vendor's website must provide a copy of this notice.

• Neither the names of PolarSSL or XySSL nor the names of its contributors may be used to endorseor promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "ASIS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THEIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSEARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORSBE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, ORCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OFSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESSINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER INCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISINGIN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITYOF SUCH DAMAGE.

The AES block cipher was designed by Vincent Rijmen and Joan Daemen.

http://csrc.nist.gov/encryption/aes/rijndael/Rijndael.pdf

http://csrc.nist.gov/publications/fips/fips197/fips-197.pdf

12.3 Arcfour (RC4)

Copyright (c) April 29, 1997 Kalle Kaukonen.

All Rights Reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted providedthat this copyright notice and disclaimer are retained.

THIS SOFTWARE IS PROVIDED BY KALLE KAUKONEN AND CONTRIBUTORS ``AS IS'' ANDANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIEDWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AREDISCLAIMED. IN NO EVENT SHALL KALLE KAUKONEN OR CONTRIBUTORS BE LIABLE FORANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED


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AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THISSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

12.4 MD5

MD5C.C - RSA Data Security, Inc., MD5 message-digest algorithm

Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All rights reserved.

License to copy and use this software is granted provided that it is identified as the "RSA DataSecurity, Inc. MD5 Message-Digest Algorithm" in all material mentioning or referencing this software orthis function.

License is also granted to make and use derivative works provided that such works are identified as"derived from the RSA Data Security, Inc. MD5 Message-Digest Algorithm" in all material mentioning orreferencing the derived work.

RSA Data Security, Inc. makes no representations concerning either the merchantability of thissoftware or the suitability of this software for any particular purpose. It is provided "as is" withoutexpress or implied warranty of any kind.

These notices must be retained in any copies of any part of this documentation and/or software.

12.5 uIP

Copyright (c) 2005, Swedish Institute of Computer Science



1. Redistributions of source code must retain the above copyright notice, this list of conditions and thefollowing disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions andthe following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the Institute nor the names of its contributors may be used to endorse orpromote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND ANYEXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIEDWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AREDISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE FOR ANYDIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSEDAND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THISSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

12.6 DHCP

Copyright (c) 2005, Swedish Institute of Computer Science





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THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND ANYEXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIEDWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AREDISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE FOR ANYDIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSEDAND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THISSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

12.7 CMSIS DSP Software Library

Copyright (C) 2010 ARM Limited. All rights reserved.

12.8 FatFs

FatFs - FAT file system module include file R0.08 (C)ChaN, 2010

FatFs module is a generic FAT file system module for small embedded systems.

This is a free software that opened for education, research and commercial

developments under license policy of following trems.

Copyright (C) 2010, ChaN, all right reserved.

The FatFs module is a free software and there is NO WARRANTY.

No restriction on use. You can use, modify and redistribute it for

personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY.

Redistributions of source code must retain the above copyright notice.

12.9 Protothreads

Protothread class and macros for lightweight, stackless threads in C++.

This was "ported" to C++ from Adam Dunkels' protothreads C library at: http://www.sics.se/~adam/pt/

Originally ported for use by Hamilton Jet (www.hamiltonjet.co.nz) by Ben Hoyt, but stripped down forpublic release. See his blog entry about it for more information: http://blog.micropledge.com/2008/07/protothreads/

Original BSD-style license

Copyright (c) 2004-2005, Swedish Institute of Computer Science.







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This software is provided by the Institute and contributors "as is" and any express or impliedwarranties, including, but not limited to, the implied warranties of merchantability and fitness for aparticular purpose are disclaimed. In no event shall the Institute or contributors be liable for anydirect, indirect, incidental, special, exemplary, or consequential damages (including, but not limitedto, procurement of substitute goods or services; loss of use, data, or profits; or business interruption)however caused and on any theory of liability, whether in contract, strict liability, or tort (includingnegligence or otherwise) arising in any way out of the use of this software, even if advised of thepossibility of such damage.

12.10 Lightwight IP

Copyright (c) 2001-2004 Swedish Institute of Computer Science.





3. The name of the author may not be used to endorse or promote products derived from this softwarewithout specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIEDWARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OFMERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. INNO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITEDTO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, ORPROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OFLIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCEOR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IFADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

This file is part of the lwIP TCP/IP stack.

Author: Adam Dunkels <[email protected]>

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